Directable traction systems and methods

ABSTRACT

Described here are methods, systems, and devices, useful for minimally invasive surgical procedures. The methods may include introducing a grasper through an opening into an abdominal cavity, grasping a portion of a left lobe of a liver with the grasper, rotating the grasper towards a control element located outside the abdominal cavity by applying a magnetic field to the grasper across a body wall, and moving the control element over a set of ribs such that the liver bends into a folded configuration.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application claims priority to U.S. Provisional Application No.62/473,841, filed Mar. 20, 2017, and titled “DIRECTABLE TRACTIONSYSTEM,” which is hereby incorporated by reference in its entirety.

FIELD

Devices, systems, and methods herein relate to minimally invasiveprocedures that may be used in diagnostic and/or therapeuticapplications, including but not limited to manipulation and/or tractionof tissue such as the liver.

BACKGROUND

Minimally invasive procedures such as endoscopic, laparoscopic, andthoracoscopic procedures may be associated with benefits such as lowerpain, quicker post-surgical recovery, shortened hospitalization, andreduced complications when compared to open surgical procedures. Duringminimally invasive procedures it may be desirable to reposition orotherwise manipulate tissue. However, the placement of an incision islimited due to patient anatomy, which may in turn limit the range ofmotion and/or direction of force that may be applied during a procedureto manipulate tissue. Accordingly, it may be desirable to provide one ormore methods to rotate, retract, pull, reposition, and otherwisemanipulate tissue with additional range of motion and/or degrees offreedom independent of an access site into the body.

BRIEF SUMMARY

Described herein are methods, systems, and devices for providing remotetraction of tissue such as for minimally invasive surgical procedures.The methods described herein may increase the number of directions andlocations available for tissue traction in an abdominal cavity. This mayprovide access to other tissue in the abdominal cavity, which may allowadditional procedures to be performed. Generally, the methods forperforming a surgical procedure may comprise introducing a grasperthrough an opening into an abdominal cavity, grasping a portion of aleft lobe of a liver with the grasper, rotating the grasper towards acontrol element located outside the abdominal cavity by applying amagnetic field to the grasper across a body wall (e.g., abdominal wall,thoracic wall), and moving the control element over a set of ribs suchthat the liver bends into a folded configuration.

In some variations, a space may be accessed in an abdominal cavityvacated by the grasped portion of the liver. In some other variations, astomach may be accessed in an abdominal cavity vacated by the graspedportion of the liver. In yet other variations, a stomach may bevisualized in the abdominal cavity vacated by the portion of the liverusing an optical sensor. In some variations, a gastric procedure may beperformed while the liver forms the fold. In some variations, thecontrol element may be stationary during the gastric procedure. In othervariations, the control element may be repositioned over the set of ribsduring the gastric procedure. In some of these variations, the gastricprocedure may comprise one or more of a gastric bypass, a sleevegastrectomy, a gastric band procedure, a biliopancreatic diversion withduodenal switch, and a gastric cancer resection.

In some variations, the methods may further comprise performing abiliopancreatic diversion with duodenal switch that includes the step ofperforming a sleeve gastrectomy, grasping a portion of a right lobe of aliver with the grasper, rotating the grasper grasping the right lobetowards the control element located outside the abdominal cavity byapplying the magnetic field to the grasper across a body wall, movingthe control element over the set of ribs such that the right lobe of theliver bends into a folded configuration, and cutting a pylorus from aduodenum.

In some variations, a superior portion of a patient may be tilted abovean inferior portion of the patient. In some of these variations, alocation of the control element may be maintained relative to the bodywall while tilting the patient and visualizing tissue other than theliver. In other of these variations, the control element may berepositioned over the set of ribs while tilting the patient andvisualizing tissue other than the liver.

In some variations, grasping the portion of the liver may comprisegrasping a peripheral edge of the liver. In some other variations,moving the control element over the set of ribs may pull grasped tissueaway from the opening. In other variations, moving the control elementover the set of ribs may move the control element in a lateraldirection. In yet other variations, moving the control element over theset of ribs may move the grasped portion of the liver anteriorly over aright lobe of the liver. In some variations, grasping the portion of theliver may comprise grasping a left-lateral portion of segment II of theliver. In some other variations, moving the control element may beperformed in a left-superior direction over the set of ribs. In yetother variations, grasping the portion of the lobe may comprise graspingan inferior portion of segment III of the liver.

In some variations, introducing the detachable grasper may compriseintroducing a delivery device assembled with the detachable grasperthrough the opening, reattaching the grasper to the delivery device,releasing the grasper from the grasped portion of the liver, andremoving the delivery device from the opening.

In some variations, the set of ribs may comprise at least one of a fifthrib through a tenth rib. In some variation, an abdominal cavity maydefine the opening. In other variations, the opening may be defined inan abdominal cavity and may be inferior to the set of ribs. In somevariations, moving the control element over the set of ribs may compriseapplying the magnetic field to the grasper across the set of ribs, adiaphragm, and the thoracic wall. In some variations, the steps mayfurther comprise moving the control element over the body wall andbetween a set of left ribs and a set of right ribs.

Also described here are methods of performing a surgical procedurecomprising introducing a grasper through an opening into an abdominalcavity, grasping a portion of a right lobe of a liver with the grasper,rotating the grasper towards a control element located outside theabdominal cavity by applying a magnetic field to the grasper across abody wall, and moving the control element over a set of ribs such thatthe liver bends into a folded configuration. In some variations, a spacemay be accessed in an abdominal cavity vacated by the grasped portion ofthe liver. In some variations, grasping the portion of the livercomprises grasping an inferior portion of one or more of segments IV, V,and VI of the liver. In some variations, the method may further compriseperforming a gastric procedure while the liver forms the fold. In somevariations, a left lobe may be grasped with a first grasper and a rightlobe may be grasped with a second grasper. In other variations, aplurality of graspers may grasp the liver and be spaced apart.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1A depicts an illustrative anatomy of a torso. FIG. 1B depicts aperspective view of an illustrative anatomy of a torso. FIG. 1C depictsan illustrative variation of an X-ray of a torso.

FIG. 2A depicts a perspective view of an illustrative variation of a setof Nathanson retractors. FIG. 2B depicts a schematic diagram of anillustrative variation of a surgical procedure utilizing a Nathansonretractor.

FIG. 3 depicts a schematic diagram of an illustrative variation of a setof abdominal organs.

FIG. 4 depicts a flowchart representation of an illustrative variationof a surgical procedure.

FIG. 5 depicts a cross-sectional view of an illustrative variation of atissue traction procedure.

FIG. 6 depicts a schematic diagram of an illustrative variation of atissue traction procedure.

FIGS. 7A-7B depict a schematic diagram of an illustrative variation of atissue traction procedure.

FIGS. 8A-8C depict perspective views of an illustrative variation of thesystems described here.

FIGS. 9A-9F depict cross-sectional side views of a distal portion of anillustrative variation of the delivery devices described here and anillustrative variation of the graspers described here.

FIGS. 10A-10D depict illustrative variations of the methods describedhere.

FIGS. 11A and 11B show perspective and side views, respectively, of anillustrative variation of a grasper as described here. FIG. 11C shows across-sectional side view of the grasper of FIGS. 11A and 11B.

FIGS. 12A-12D depict cross-sectional side views of a distal portion ofan illustrative variation of the delivery devices described here and thegrasper of FIGS. 11A and 11B.

DETAILED DESCRIPTION

Generally described here are methods, systems, and devices forperforming a surgical procedure such as remote traction of tissue. Themethods described here may comprise one or more of remote suspension,traction, mobilization, and manipulation of tissue within a body cavityduring a minimally-invasive procedure. Access to the body cavity andinternal organs may be achieved in a number of ways such as will bedescribed in more detail below. Accordingly, it may be helpful tobriefly describe the anatomy of one body cavity within which the methodsdescribed herein may be performed—the abdominal cavity. FIG. 1A is anillustrative depiction of the typical anatomy of a torso. Specifically,FIG. 1A shows a front view of a torso (100) including a set of ribs(102), liver (104), stomach (106), spleen (108), colon (110), smallintestine (112), and pelvic bone (114). FIG. 1B is a perspective view ofa diaphragm (116) relative to a set of ribs (102). FIG. 1C is an X-rayof a torso with annotated organs including the liver (104), stomach(106), spleen (108), colon (110 a, 110 b), small intestine (112),kidneys (118 a, 118 b), psoas muscle (120), and rectum (122).

Surgical access to internal tissues and/or organs to perform a proceduregenerally utilizes one or more entry ports, incisions, natural orifices,and other openings. In laparoscopic procedures, a port may be placed inthe abdomen so as to minimize damage to tissue such as bones, muscles,the diaphragm, internal organs, retroperitoneal structures, and othertissues (e.g., nerves, lymphatic system). However, reducing trauma anddamage (e.g., from penetration, breaking, tearing, cutting) to thepatient also generally limits placement of an access site. In turn,surgical procedure steps including, but not limited to, cutting,cauterizing, stapling, moving, manipulating, and retracting tissue maybe constrained by the location of the access site and the ability of anend effector to navigate through the abdominal cavity to reach desiredtissue. For example, some devices may comprise a shaft configured to beadvanced into an abdominal cavity through an access site with a distalend of the device comprising an end effector. In order to function,these devices require a direct physical connection path from an externalcontrol element (e.g., actuation mechanism) of the device to an endeffector disposed within the patient. This may limit the location anddirection in which the end effector interacts with tissue due to theconstrained dimensions within an abdominal cavity.

Moreover, it should be appreciated that the anatomy of a patient isvariable with respect to characteristics such as tissue location andsize, the thickness and flexibility of the body walls, tissueelasticity, fragility, empty space, and the like, such that selection ofan access site is patient dependent and selected by a surgeon. As usedherein, a body wall may comprise one or more of an abdominal wall and athoracic wall. The access site selected may be evaluated after theaccess site is formed and the surgeon is able to view the internalanatomy of the patient. Sub-optimal access site selection may lead topoor outcomes such as hematoma and pain if the surgeon performs theprocedure (e.g., liver retraction) and attempts to overcome thesub-optimal access site. In some of these cases, the surgeon may need tocreate another access site (e.g., incision).

In some cases, an organ may be moved (e.g., retracted) during aprocedure in order to provide access to an otherwise obstructed organ.For example, as shown in FIG. 3, access to portions of the gallbladder(330) and stomach (306) may be blocked by one or more lobes of the liver(304 a, 304 b) as well as the ribs and diaphragm (not shown).Conventional tools, such as non-articulating graspers (e.g.,straight-shafted graspers), articulating shafted graspers, andretractors that provide a lifting force (e.g., Nathanson retractors),may be used to provide tissue traction. However, these conventionaltools have significant limitations.

Conventional non-articulating graspers may be advanced into a bodycavity and be configured to releasably couple to a portion of tissue.However, manipulation of a conventional non-articulating end effector(e.g., straight-shafted grasper) is limited to axial rotation, axialadvancement, axial retraction, and pivoting at the access site, thusconstraining how the grasper may approach and interact with tissue. Thatis, an approach angle of the shafted end effector to tissue, thedirection in which forces may be applied to tissue, and themaneuverability of the end effector may depend on the location of anaccess site relative to the tissue. Further, to move the grasped tissue,the straight-shafted grasper may apply a pushing force to the graspedtissue that may puncture and/or cause blunt trauma.

Retractors that provide a lifting force, such as Nathanson retractors,also have significant limitations. As an example, FIG. 2A is aperspective view of a set of Nathanson retractors (200) that may be usedto retract the liver. FIG. 2B is an illustrative schematic diagram of aliver retraction procedure utilizing a Nathanson retractor (200)configured to lift a lobe (220 a) of the liver (220) toward an abdominalwall. In FIG. 2B, an access site (210) such as an incision is createdspecifically for the Nathanson retractor in a portion of the abdominalwall inferior to the liver (220) and set of ribs (230). As shown in FIG.2B, a Nathanson retractor (200) may be advanced through the access site(210), under the liver (220) and under the ribs (230) in a position toretract the liver.

Liver retraction using a Nathanson retractor (200) may benefit fromsimplicity but has a number of drawbacks. First, the liver's surface hasvery low friction, so a large portion of a lobe of the liver (220) mustbe retracted (i.e., lifted) by the Nathanson retractor (200) to retractthe liver (220). Second, since the liver (220) is relatively dense, thesmall surface area of the Nathanson retractor (200) in contact withtissue may impart relatively large forces that may stress and damage theliver (220). Third, retracting sub-portions of the liver (220) may bedifficult using Nathanson retractors (200) because the sub-portions maysimply slip off the retractor (200) configured to retract large portionsof the liver.

Conventional articulating end effectors (e.g., articulating shaftedgrasper, flexible shaft, articulating end effector) may be able toprovide more maneuverability than non-articulating end effectors likestraight-shafted graspers, but may be larger, complicated to operate,require more space within a body cavity, and still require a directphysical path from a distal end of the end effector through an accesssite. Like a non-articulating grasper, a conventional articulatingshafted grasper may be advanced into a body cavity and be configured toreleasably couple to a portion of tissue. However, the size of the endeffector, its articulation mechanism, and location of the access sitemay limit the location and direction of force applied by the shaftedgrasper.

By contrast, the devices and systems as described in detail herein maybe used without a direct physical path between an end effector within anabdominal cavity and an external control element, such that the endeffector may be manipulated independent of an access site to aid tissuemanipulation. As such, the methods and systems described herein mayreduce stress and damage to tissue. For example, the methods and systemsdescribed herein may reduce stress and damage to the liver bymanipulating specific portions of a liver independent of access sitelocation.

Overview

Generally, the methods described herein may be used to apply force totissue at a desired location and in a direction independent of an accesssite to provide access to tissue within an abdominal cavity. In somevariations, a detachable end effector may be manipulated to generateforces at locations and in directions independent of an access site,thus allowing tissue to be grasped at previously inaccessible locationsand manipulated in a wide range of directions. These methods may reducethe risk of damage to tissue, which may lead to better patient outcomes,such as by improving tissue visualization and allowing for less force tobe applied to tissue.

The methods described here comprise releasably connecting an endeffector, such as one of the graspers described here, to tissue, andproviding a magnetic force to the grasper to move and/or hold thegrasper and to provide traction of the tissue engaged by the grasper. Insome variations, the grasper may be releasably connected to tissueinside of the body. To connect the grasper to the tissue, the graspermay be releasably coupled with a delivery device, wherein the deliverydevice may be configured to actuate the grasper. The delivery device mayactuate the grasper to releasably connect the grasper to tissue, and mayeject or otherwise decouple from the grasper after the grasper isconnected to tissue.

When the grasper is decoupled from the delivery device, the grasper maybe attracted by a magnetic force external to the body and may move orotherwise hold tissue without the need to have a shaft or other portionof a device positioned in a port or other access site. This may reducethe number of access sites required to provide remote suspension oftissue, which may allow for faster and more reliable surgicalprocedures. Furthermore, removing a shaft or other portion of a devicebetween the access port and a grasper removes a potential obstacle fromthe abdominal cavity that may improve access and/or visualization oftissue. Unlike traditional tools such as a Nathanson retractor, thegraspers described herein may also be configured to grasp a portion of abody organ that allow specific portions of the body organ to be moved toreduce the forces needed to manipulate the body organ, thereby reducingthe risk of damage.

More particularly, a control element may be positioned externally of thebody to affect (e.g., rotate, attract, repel) the grasper. A magneticforce provided by the control element may be configured to attractand/or repel the grasper to pull tissue in a desired direction oftraction. The control element may be moved externally to the patient tomove the grasper and grasped tissue in difficult-to-traverse areas ofthe body where an access site is impractical, such as near bones and thediaphragm.

The methods described herein may further comprise tilting a patient toprovide access and/or visualization of tissue. In some variations,patient tilting and tissue traction may be performed together to provideaccess and/or visualization of tissue. For example, a patient platformhaving a patient lying flat thereon may be tilted such that thepatient's head is above his/her feet in order for the stomach to shiftinferiorly due to the force of gravity while a grasped portion of liveris held in place relative to a body wall. In some of these variations,additional procedures may be performed while the patient is tilted andtissue is retracted by the grasper and control element.

While illustrative examples of the graspers and delivery devices aredescribed together below, it should be appreciated that the methods mayinvolve actuating and delivering the graspers described herein using anysuitable delivery device, and that that the delivery devices describedhere may be used to actuate and deliver any suitable grasper or graspingdevice. Moreover, it should be appreciated that while delivery devicesare described herein primarily with reference to use with a grasper, thedelivery devices described herein may also be used in the methodsdescribed herein to reversibly couple to another tool to deliver,position and reposition, and/or remove another tool. Similarly, whileillustrative examples of graspers and control elements are describedtogether below, it should be appreciated that in the methods describedherein, the control elements may be used with any of the graspers anddelivery devices described here. The methods may also comprise usingdevices or systems as described in U.S. application Ser. No. 14/019,370,filed Sep. 5, 2013, now issued as U.S. Pat No. 8,764,769, inInternational Application Serial No. PCT/US2015/012319, filed Jan. 21,2015, or in International Application Serial No. PCT/US2016/027390,filed Apr. 13, 2016, each of which is hereby incorporated by referencein its entirety.

I. Methods

The graspers and systems described herein may be used in minimallyinvasive procedures that may allow for greater ability to manipulateand/or retract tissues. These may include any suitable minimallyinvasive procedure, such as but not limited to abdominal procedures,gastric procedures, thorascopic procedures, bariatric procedures, andurological/gynecological procedures. Generally, as mentioned above, toprovide tissue traction, suspension, and/or mobilization, a grasper asdescribed herein may be advanced into the body, releasably connected toa tissue in the body, and manipulated using one or more control elementspositioned externally to the body to move and hold the tissue. In somevariations, the grasper may comprise a material that is attracted to amagnetic field. The control element may be a magnetic control element,and thus control of the grasper and the direction of traction may beindependent of an access site (e.g., trocar, incision, natural orifice)in the body.

The methods described herein may provide a number of benefits including,for example, traction of one or more segments of a liver that mayprovide access to a stomach for a gastric procedure. In variations wherea gastric procedure is performed, the liver may be suspended and/orrepositioned as desired using the devices and systems described herein.For example, as described in more detail herein, the connection betweenthe grasper and the tissue may be released, and the grasper may berepositioned and reconnected to tissue (either the same portion oftissue or different portion of tissue). The patient may be tilted toreposition a set of organs relative to the grasped tissue to furtherimprove tissue access. When the methods are used to retract one or moresegments of a liver, the forces applied to the liver may be lower thanconventional methods so as to reduce tissue damage. Also, the graspermay be manipulated remotely without a physical path through an accesssite to an exterior of the abdominal cavity such as is necessary with ashafted grasper.

FIG. 4 is a flowchart that generally describes an illustrative variationof a method (400) for performing a surgical procedure. Generally, thismethod for performing a surgical procedure may include introducing anend effector (e.g., grasper) through an opening into an abdominalcavity. The grasper may be advanced towards tissue such as a liver wherea portion of a lobe of the liver may be grasped with the grasper. Acontrol element may be placed near the body wall of the patient and usedto apply a magnetic field to the grasper across the body wall. Adelivery device, a separate instrument (e.g., shafted grasper), and/orthe magnetic field may attract, rotate, and/or translate the graspertowards the control element to couple the grasper to the control elementacross the body wall and move the grasped portion of the liver in adesired direction. In some variations, the control element may be movedwhile visualizing the liver and/or other tissue to aid visualization ofthe underlying tissue. In some variations, additional procedures such asa gastric procedure may be performed after moving the control element.In some of these variations, retraction of the liver may be readjustedduring the gastric procedure by grasping a different portion of theliver and moving the control element over the ribs of the patient. Insome variations, the patient may be tilted in conjunction with tissueretraction. During any of the steps described herein, tissue within theabdominal cavity may be visualized. To complete the procedure, thegrasper may release the liver and be removed from the abdominal cavity.

In some variations, the method (400) provides remote traction of tissuesuch as a liver that may provide access to another tissue (e.g.,stomach) posterior to the retracted tissue. The method (400) may beginwith introducing an end effector (e.g., grasper, clips, clamps, and thelike) through an opening into an abdominal cavity (402). The grasper maybe advanced into the body in any suitable manner. In some variations, anopening (e.g., access site, entry port) may be created by, for example,an incision, trocar, NOTES, and the like. In some variations, theopening may be formed inferior to the set of ribs in an area of theabdominal wall that does have not overly sensitive and/or difficulttissue (e.g., diaphragm, osseous tissue). In some variations, theopening may comprise a natural orifice (e.g., mouth, anus). In somevariations, the grasper may be advanced into the body through a port aspart of a minimally invasive procedure. In some instances, the minimallyinvasive procedure may be a reduced port technique or single-incisionprocedure. By contrast, conventional tools and methods operate within anopening throughout a tissue traction procedure, which may require thecreation of one or more other openings for other devices (e.g., surgicalinstruments, visualization devices).

In some variations, the grasper may be advanced into the body using adelivery device, such as the delivery devices described in more detailherein (e.g., FIGS. 8A-8C, 9A-9F, 10A, 10D, 12A-12D). The grasper may besterilized before use. In these variations, the grasper may bereleasably coupled to a distal engagement portion of the deliverydevice, and the distal engagement portion of the delivery device may beadvanced into the body to advance and position the grasper within thebody. Once the delivery device and the grasper are advanced into theabdominal cavity, the delivery device may advance the grasper towards aportion of tissue (e.g., lobe of a liver). For example, the deliverydevice and attached grasper may be advanced toward the liver in acephalic direction (e.g., toward the head) through an opening in anabdominal wall inferior to the set of ribs and/or the liver.Alternatively, a magnetic grasper may be introduced into the abdominalcavity through the opening without a delivery device. A secondaryshafted grasper or other tool introduced into the abdominal cavity maybe used to grasp the magnetic grasper and advance it towards a portionof tissue.

Once the grasper is positioned in the body, in step 404 of FIG. 4, themagnetic grasper may grasp a portion of tissue (e.g., by clamping a pairof jaws around the tissue). In some variations, the grasper may beplaced in an open configuration using the delivery device carrying thegrasper (e.g., by advancing an actuation rod through a barrel portion ofthe grasper) or by a grasping device which may engage and move thegrasper to the open configuration (as described in more detail above).With the grasper in the open configuration, the grasper may bemanipulated to position the tissue between a first jaw and a second jaw.The grasper may be returned to a closed configuration, in which thefirst jaw rotates toward the second jaw to hold the tissue between thejaws. For example, a surgeon may manipulate a trigger mechanism of adelivery device to actuate the jaws of a grasper from an open positionto a closed position such that a desired portion of tissue may be heldby the grasper. The grasper may then be released from the deliverydevice and/or grasping device, and these devices may be removed from thebody. In variations where the grasper is advanced into the abdominalcavity using a delivery device and the delivery device is used toactuate the grasper, the grasper may be detached from the deliverydevice after grasping tissue.

It should be appreciated that any suitable graspers, and/or deliverysystems as described here may perform the steps discussed herein. Forexample, when the steps discussed are performed by the grasper shown inFIGS. 12A-12B, the grasper (900) may be advanced into the body toward atarget tissue (1202), and positioned in an open configuration. Toadvance the grasper (900), the grasper (900) may be releasably coupledto a distal engagement portion (808) of a delivery device (800), and auser may advance the distal engagement portion (808) into the body toposition the grasper (900). The tissue (1202) may be positioned betweenthe first jaw (902) and second (904) jaw of the grasper (900), and thegrasper (900) may be moved to a closed configuration to releasablycouple the grasper (900) to the tissue (1202), as shown in FIG. 12B.Once connected to the tissue (1202), the grasper (900) may be releasedfrom the delivery device (800), and the delivery device (800) may beremoved from the body. In some variations, the delivery device detachedfrom the grasper may be completely retracted out of the opening to allowother devices (e.g., surgical instruments, visualization devices) to beadvanced through and/or occupy the opening. For example, one or morevisualization devices, secondary graspers, and other end effectors maybe advanced into the abdominal cavity.

In some variations, the grasper may be used to grasp a portion of a lobeof a liver. A grasper grasping a portion of a lobe of a liver is shownin FIGS. 5, 6, and 7A-7B. The methods described herein may provideaccess to other organs without retracting the entire liver such that theforces applied to the liver may be reduced so as to reduce a risk ofdamage to the liver. In some variations, a peripheral edge (e.g., sideedge, peritoneal edge) of a liver lobe may be grasped by the grasper. Insome variations, a left-lateral portion of a segment II portion of theliver may be grasped, as shown in FIGS. 7A-7B. In some variations, aninferior portion of a segment III portion of the liver may be grasped,as shown in FIG. 6. Additionally or alternatively, a portion of a rightlobe of a liver may be grasped. For example, an inferior portion of oneor more of segments IVb, V, and VI of the liver may be grasped. Aperipheral edge (e.g., side edge, peritoneal edge) of a right liver lobemay be grasped.

With the grasper releasably connected to the tissue, a control elementcomprising one or more magnetic elements, as described in more detailherein, may be positioned externally of the body and may apply amagnetic field of sufficient strength to attract and/or repulse thegrasper to reposition and/or hold the grasper and grasped tissue. Instep 406, the grasper may be rotated and/or translated towards a controlelement located outside the abdominal cavity by applying a magneticfield to the grasper across a body wall. That is, the grasper may bemagnetically coupled to the control element such that the grasper isattracted to and rotated and/or translated towards the control elementas shown in FIG. 5. Rotation of the grasper may generally include pitchrotation but may also include yaw rotation and roll rotation. As thegrasper rotates, at least the portion of tissue grasped in the jaws ofthe grasper may rotate with the grasper. In some variations, the controlelement may be located on or near the body wall of the patient andgenerally anterior to the grasper. The magnetic field applied from thecontrol element to the grasper may pass through tissue, such as theribs, diaphragm, and thoracic wall, or abdominal wall of the patient.Additionally or alternatively, the grasper may be moved (e.g., raised)toward the body wall by a secondary shafted grasper or other tool, andthen coupled to the control element.

For example, as shown in the cross-sectional side view of the patient(500) in FIG. 5, a grasper (510) may be coupled to a portion (532) of aliver (530) including, but not limited to, sections II, III, IV, V, andVI of the liver, as described in more detail herein. A control element(520) may be generally disposed anterior to the grasper (510) and liver(530) where a thoracic wall (540), set of ribs (550), and diaphragm(560) are between the grasper (510) and the control element (520). Whena magnetic field is applied to the grasper (510) from the controlelement (520), the grasper (510) and the grasped portion of liver (532)may rotate and/or translate such that the grasper (510) is attractedtowards the control element (520). Specifically, a proximal end of thegrasper (510) may be attracted towards the control element (520). Amagnetic field applied across the thoracic wall (540), ribs (550), anddiaphragm (560) may pitch the grasper (510) and grasped portion of liver(530) towards the control element (520) such that the liver (530) bendsinto a folded configuration. That is, the grasped portion of tissue(532) may fold anteriorly over another portion of the liver (530) where,for example, the grasped portion (532) may be pulled. In somevariations, the control element (520) may be spaced apart from a surfaceof the thoracic wall (540). In some variations, the control element maybe translated toward the body wall of the patient, such as when largedeposits of adipose tissue lie between the grasper and control element,and in other variations, the control element may not be translated. Insome variations, the magnetic field applied by the control element (520)may rotate the grasped portion of tissue (532) to be substantiallyperpendicular to another portion of the liver (530). In some othervariations, the magnetic field applied by the control element (520) mayrotate the grasped portion of tissue (532) to form an acute anglerelative another portion of the liver (530). Specifically, a graspedportion of tissue (532) may be pulled over the liver (530) to create abend such that the liver folds over itself. This may allow tissueunderneath the liver (530) to be better visualized. By contrast,conventional devices such as a Nathanson retractor lift up largeportions of the liver towards the abdominal wall but do not allowsmaller portions of the liver to be bent or folded over itself

Some methods may include using a plurality of graspers to retract theliver. This may be useful in a number of situations, such as when apatient has a large liver, an abdominal cavity with limited space tomaneuver, and/or when more precise control of retraction is desired. Itshould be appreciated that more than two graspers may be used in thesame procedure, such as but not limited to three, four, five, or sixgraspers, or more. In these variations, for example, a plurality ofgraspers may be advanced into the body and be spaced apart along aperipheral edge of the tissue to releasably grasp one or more portionsof a liver.

In some variations, the plurality of graspers may be coupled to one ormore control elements. In some variations, a first control element maybe positioned externally of the body to attract, rotate (e.g., pitch)and/or translate a first grasper toward the first control element. Asecond grasper may be advanced into the body through the same opening(or a second opening) using the same delivery device (or a seconddelivery device), releasably connected to tissue (either by gripping thetissue or by capturing it in a space between the jaws), and releasedfrom the delivery device. A second control element may then bepositioned externally to the body to attract, rotate (e.g., pitch)and/or translate the second grasper toward the second control element.For example, a first set of graspers grasping a left lobe of a liver maybe magnetically coupled to a first control element and a second set ofgraspers grasping a right lobe of a liver may be magnetically coupled toa second control element. As another example, a first grasper and asecond grasper each grasping the left lobe of the liver may bemagnetically coupled to the same control element located external to theabdominal cavity.

The control element (520) may be manipulated (e.g., moved axially,laterally, and/or rotated) to reposition the grasper (510) and thetissue (532). In some variations, the grasper may apply a pulling forceon the grasped portion of tissue in a direction of movement of thecontrol element. For example, the control element may pull the graspedtissue away from the opening. For example, in step 408, the controlelement and the magnetic field corresponding thereto may be moved overthe set of ribs such that the liver bends into a folded configuration.This may create a space vacated by the grasped portion of tissue thatmay be accessed, visualized, and/or aid another surgical procedure(e.g., gastric procedure).

In contrast, conventional devices (e.g., straight and articulatingshafted graspers) are limited in the direction and manner in whichforces may be applied to move grasped tissue. The location of an accesssite, the amount of vacant space within a body cavity, and the geometryand/or size of an instrument may reduce the range of motion and/or theforces capable of being applied to the grasped tissue using aconventional shafted grasper. Surgeons have developed retractionmovement techniques in consideration of these limitations. For example,rotation of a conventional shafted grasper towards an abdominal wall maynot be possible due to the geometry and size of a grasper, shaft, and,in the case of an articulating grasper, the articulation mechanism towhich the grasper is connected, and their spatial relationships relativeto other body organs. That is, there may be no room, and/or no leverage,to rotate the shafted grasper in the abdominal cavity without damagingtissue. Surgeons may instead, for example, apply a pushing force totissue using a straight-shafted grasper, which may cause damageincluding blunt trauma. Consequently, retraction of grasped tissue maybe limited in direction due to the physical constraints of conventionaldevices within an abdominal cavity.

As such, patient safety and surgical experience would suggest againstretracting tissue using the steps as described herein. Conventionalretraction procedures allow surgeons to visualize how their physicalinputs are translated into motion through an instrument providingtangible confirmation to the surgeon of the steps being performed.However, the use of the grasper, control element, and correspondingmethods described herein may remove this “safety net” of tactilefeedback such that the surgeon may be wary of performing movements andactions beyond those conventionally used for fear of harming thepatient. This may be particularly the case when forces are appliedwithout tactile feedback through tissue including the diaphragm, ribs,and thoracic wall, since conventional procedures are not performedthrough these tissues. Therefore, retraction of tissue using theportions of tissue and the direction of forces applied as describedherein is neither conventionally available nor does it follow theprinciples of conventional retraction techniques.

As shown in FIGS. 6 and 7A-7B, the grasped portion of the liver may moveanteriorly over another portion of the liver. In some variations, theset of ribs over which the control element may pass may include one ormore of a fifth rib through tenth rib such as the left sixth rib and theleft seventh rib. The control element may be moved in a lateraldirection and/or a cephalic direction over one or more of the seventhrib through tenth rib. Additionally or alternatively, the controlelement may be moved over the body wall between a set of left ribs and aset of right ribs. A surgeon may thus grasp tissue and control movementof the grasper in a manner independent of a location of an access sitelocated in the body wall inferior to the ribs. The access site cannot belocated in areas over the ribs where the control element moves sinceforming an opening at those locations would break and/or puncture one ormore of bone and the diaphragm. However, the control element may apply aforce to the grasper through the thoracic wall, ribs, and diaphragm in amanner that is not possible using conventional shafted tools and iscounter to conventional methods of tissue retraction that rely on forceapplication through a direct connection through an access site.

In some variations, the control element may comprise a magnet that ismovable within a control element housing and which may apply a magneticfield to the grasper within the abdominal cavity. The magnet of acontrol element may be manipulated (e.g., using a magnet control) torotate, translate and/or reposition a grasper and without moving thecontrol element. For example, the grasper may rotate in one or more ofpitch, yaw, and roll through manipulation of the magnet relative to thecontrol element.

FIG. 6 is a schematic diagram (600) of a portion of a lobe (622) of aliver (620) moved in a left-superior direction to provide access to thestomach (630). In FIG. 6, the grasper (610) may grasp an inferiorportion of segment III (622) of the liver (620) and may be moved in agenerally cephalic direction (612) (e.g., left-superior direction) topull at least the grasped portion (622) of the liver in the cephalicdirection. In this manner, the grasped portion of liver (622) may bemoved anteriorly over another portion of the left lobe of the liver(620). This may create a space in the abdominal cavity vacated by themoved portion of tissue (622) and provide an area (632) of improvedaccess including a portion of the stomach (630) underneath the liver(620). As described in further detail herein, the stomach (630) may beaccessed through one or more of visualization using an optical sensorand a gastric procedure.

FIGS. 7A-7B are schematic diagrams (700) of a portion of a lobe (722) ofa liver (720) moved in a lateral direction to provide access to an area(732) of the stomach (730). For example, the grasper (710) may grasp aleft-lateral portion of a segment II portion (722) of the liver (720)and may be moved in a generally lateral direction (712) to pull at leastthe grasped portion (722) of the liver laterally (e.g., from thepatient's left to the patient's right). In FIG. 7B, a control element(not shown) may be further moved laterally over the ribs (not shown)such that the grasped portion (722) of the liver (720) may be movedanteriorly over a right lobe of the liver (not shown). This may create aspace in the abdominal cavity vacated by the moved portion of tissue(722) and provide an accessible area (732) corresponding to a portion ofthe stomach (730) underneath the liver (720). As described in furtherdetail herein, the stomach (730) may be accessed through one or more ofvisualization using an optical sensor and a gastric procedure.

In some variations, the methods described here may additionally oralternatively comprise using a visualization device (e.g., opticalsensor, camera, light source) to visualize a body cavity during aminimally-invasive procedure. In step 410, a space vacated by the movedportion of the liver may be visualized using an optical sensor such asthose described in more detail herein. As shown in FIG. 12E, avisualization device comprising a camera (1250) may be advanced into thebody with a lens (1252) directed towards a target tissue (1202). Toadvance the camera (1250), the camera (1250) may be releasably coupledto a distal engagement portion of a delivery device, and a user mayadvance the distal engagement portion into the body to position thecamera (1250). Once in position, the camera (1250) may be released fromthe delivery device, and the delivery device may be removed from thebody. In some variations, the method may return to step 404 to grasp andmanipulate a different portion of tissue and/or step 408 to further movethe grasper after visualization. This may be useful when modification totissue traction is desired.

In some variations, access to tissue may be improved using the force ofgravity to shift organs to a desired arrangement within an abdominalcavity. In step 412, a patient may optionally be tilted to shift one ormore organs within the abdominal cavity to provide access to tissuewithin the abdominal cavity. In some variations, a superior portion of apatient may be tilted above an inferior portion of the patient. Forexample, a patient on a patient platform (e.g., operating table) may betilted (e.g., pitched, rolled) such that the patient's head is abovehis/her feet. In some variations, the control element may remainstationary relative to a body wall of the abdominal cavity while tiltingthe patient. For example, the control element may be coupled to amechanical arm further coupled to the patient platform. When the patientplatform is tilted, the arm and control element may tilt along with thepatient platform. In this manner, one or more organs other than thesuspended tissue (e.g., grasped lobe of the liver) may move inferiorlyrelative to the liver and thus provide access to tissue other than thesuspended tissue. For example, tilting the patient may allow a set oforgans posterior to the liver (e.g., stomach, gallbladder) to move in acaudal direction (e.g., toward the feet) while the grasped liver tissueremains stationary relative to the body wall of the abdominal cavity.

In some variations, the patient may be tilted by up to about 60 degreesrelative to ground. In some variations, the patient may be tilted by upto about 30 degrees relative to ground. Additionally or alternatively,the control element may be repositioned (e.g., by moving the controlelement relative to the ribs) while tilting the patient. Tissue withinthe abdominal cavity may be visualized while the patient is tiltedand/or the control element is repositioned. In some variations, thepatient may be tilted and the control element may be moved iterativelyto manipulate the liver and other tissue. This may enlarge a spacevacated by the liver. Tilting of a patient while using a conventionalshafted instrument may be difficult since a surgeon would need tomanually adjust a position and/or orientation of the traction instrumentwithin the body cavity as the patient is tilted.

In some variations, the method may return to step 404 to grasp andmanipulate a different portion of tissue. In some instances, thedelivery device (or another device, such as a grasping device) may beused to disconnect the grasper from tissue. The grasper may then berepositioned and reattached to tissue (either the same tissue or adifferent tissue), or may be removed from the body.

In some variations, remote traction of tissue may aid tissuevisualization and/or other procedures to be performed. In step 414, aspace in the abdominal cavity vacated by the grasped portion of theliver may be accessed. Access may allow a procedure to be performed inthe space such as visualization or a gastric procedure, as described inmore detail herein. In some variations, the space may comprise a stomachand/or tissue posterior to the grasped portion of the liver. Forexample, tissue retraction may be followed by controlling the positionand/or orientation of one or more of a grasper, retractor, lightsources, sensors (e.g., ultrasound), scissors, electrocautery devices,and the like, located within the body using a magnetic field generatedoutside the body by a control element as described herein.

In step 416, a procedure, such as a gastric procedure, may optionally beperformed while the liver is in a folded configuration. In somevariations, the gastric procedure may comprise one or more of a gastricbypass, a sleeve gastrectomy, a gastric band procedure, abiliopancreatic diversion with duodenal switch, and a gastric cancerresection. During a gastric procedure, the control element may remainstationary or be repositioned over the set of ribs as necessary to aiddifferent steps of a gastric procedure.

In step 418, the grasper may be released from the liver. In somevariations, the control element may be moved over the set of ribs backto the location where the grasper and control element were initiallymagnetically coupled. This may allow the grasped portion of the liver toreturn closer to its natural position. In some variations, a deliverydevice or retraction device may be introduced into the abdominal cavitythrough the access site and advanced to couple to the grasper. Thedelivery device may then couple to the grasper. The jaws of the graspermay then release the grasped portion of the liver (e.g., via actuationby the delivery device). In step 420, the grasper coupled to thedelivery device may be removed from the abdominal cavity such as throughan opening (e.g., the opening through which the grasper was introduced).

Biliopancreatic Diversion with Duodenal Switch

In some variations, liver traction may be performed to aid visualizationof a gastric procedure such as a biliopancreatic diversion with duodenalswitch. A biliopancreatic diversion procedure with duodenal switch mayinclude the steps of performing a sleeve gastrectomy and cutting apylorus from a duodenum.

The biliopancreatic diversion may begin with introducing a grasperthrough an opening into the abdominal cavity (step 402). The grasper maygrasp a left-lateral portion of a segment II portion of the liver (step404). The control element may be moved in a generally lateral directionover the ribs to pull at least the grasped portion of the liverlaterally (step 408). In some cases, the grasper and grasped portion ofthe liver may be folded over the right lobe of the liver. Alternatively,the grasper may grasp an inferior portion of segment III of the liverand may be moved in a generally cephalic direction (e.g., left-superiordirection) to pull at least the grasped portion (622) of the liveranteriorly over another portion of the left lobe of the liver.

Retraction of the liver may create a space in the abdominal cavity forvisualizing a body of a stomach (step 410). In some variations, thepatient may be tilted to further aid separation between the liver andstomach (step 412). The gastric procedure may be performed (416).Specifically, a sleeve gastrectomy may be performed with the aid of themoved portion of the liver. During the sleeve gastrectomy or any step ofa gastric procedure, the method may optionally return to steps 408and/or 412 to reposition the grasped tissue. This may be useful if theposition of the organs changes and/or a surgeon desires a differentfield of view of the abdominal cavity.

In some variations, different portions of the liver may be retractedseparately in order to increase access to specific areas underneath theliver. For example, one or more of segments II and III of the liver maybe retracted to aid visualization of a body of a stomach while one ormore of segments IV, V, and VI of the liver may be retracted to aidvisualization of a pylorus and duodenum. Accordingly, once a sleevegastrectomy is completed, the grasper may release the portion of theliver and grasp a different portion of the liver to aid the pyloruscutting step of the gastric procedure. For example, the control elementmay be moved in a reverse direction across the ribs to bring the graspedsegment II portion of the liver back closer to its original position.The grasper may release its connection to tissue (e.g., through controlby a delivery device and/or secondary grasper) and then be moved by thecontrol element towards one or more of segments IV, V, and VI of theright lobe of the liver.

In some variations, an inferior portion of one or more of segments IVb,V, and VI of the right lobe of the liver may be grasped by the grasper(step 404) and moved in a generally lateral or cephalic direction (step408) to pull at least the grasped portion of the liver anteriorly overanother portion of the liver to expose the pylorus and duodenum.Retraction of the liver may create a space in the abdominal cavity forvisualizing the pylorus and duodenum (step 410). In some variations, thepatient may be tilted to further aid separation between the liver andstomach (step 412). The pylorus may be cut from the duodenum (step 416).The grasper may release its connection to the liver (step 418) and beremoved from the abdominal cavity (step 420).

IL Systems and Devices

The graspers and systems described herein may be used in the proceduresdescribed herein including any suitable minimally invasive procedure,such as but not limited to abdominal procedures, thorascopic procedures,bariatric procedures, and urological/gynecological procedures. Thedevices and systems described here may include the devices described inU.S. application Ser. No. 14/019,370, filed Sep. 5, 2013, now issued asU.S. Pat. No. 8,764,769, in International Application Serial No.PCT/US2015/012319, filed Jan. 21, 2015, or in International ApplicationSerial No. PCT/US2016/027390, filed Apr. 13, 2016, each of which waspreviously incorporated by reference. FIGS. 8A-AC depict one variationof the systems described here. Specifically, FIG. 8A shows a perspectiveview of a system comprising a delivery device (800) and a grasper (900).The grasper (900) may be releasably coupled to the delivery device (800)(as shown in FIGS. 8A and 8B), and may be decoupled from the deliverydevice (800) (as shown in FIG. 8C). When the grasper (900) is coupled tothe delivery device (800), the delivery device (800) may actuate thegrasper to connect the grasper to tissue and/or release the graspertherefrom.

As shown in FIG. 8A, the delivery device (800) may comprise a handle(804), a shaft (806) extending from the handle (804), and a distalengagement portion (808) at a distal end of the shaft (806). In somevariations, the delivery device (800) and grasper (900) may beconfigured for minimally invasive introduction into a body. Forinstance, in some variations the grasper (900) and delivery device (800)may be configured for advancement through a 10 mm port. In thesevariations, the outer diameter of the grasper (900) may be less than orequal to about 10 mm. Additionally, the delivery device (800) may beconfigured such that the shaft (806) and the distal engagement portion(808) may each have a diameter of less than or equal to about 10 mm.

In some of these variations, the distal engagement portion (808) mayhave an outer diameter of less than or equal to about 10 mm, while theshaft (806) has an outer diameter of less than or equal to about 5 mm.In these variations, it may be possible to advance the distal engagementportion (808) through a 10 mm port, and to further advance a seconddevice having a diameter of about 5 mm or less through the port whilethe shaft (806) is positioned in the port.

It should be appreciated that shaft (806) may have any suitable diameter(e.g., between about 1 mm and about 15 mm, between about 5 mm and about10 mm, or the like). The shaft (806) and distal engagement portion (808)may be formed from any suitable materials, such as one or moremedical-grade, high-strength plastics or metals, such as stainlesssteel, cobalt chromium, PEEK, one or more nylons, polyimide,polycarbonate, ABS, or the like.

It should be appreciated that the systems disclosed herein may comprisea delivery device (800) releasably coupled to a different device than agrasper (900), in order to perform one or more functions within anabdominal cavity.

A. Tissue Grasping

1. Actuation Control Mechanism

Generally, the handle (804) comprises an actuation control mechanismthat may be manipulated by a user to controllably actuate the grasper(900). In some variations, the delivery device (800) may comprise aseparate decoupling control, which a user may use to decouple thegrasper (900) from the delivery device (800). In other variations, thedelivery device (800) may be configured such that a user may use theactuation control mechanism to decouple the grasper (900) from thedelivery device (800) in addition to actuating the grasper (900). Forexample, in the variation of the delivery device (800) depicted in FIGS.8A-8C, the handle (804) of delivery device (800) may comprise a gripportion (810) and an actuation control mechanism comprising a trigger(812). While shown in FIGS. 8A-8C as being a trigger (812), it should beappreciated that the actuation control mechanism may comprise anysuitable control element (e.g., a slider, a knob, or the like) capableof actuating the grasper (900) as described in more detail below. Thetrigger (812) may be configured to both actuate the grasper (900) anddecouple the grasper (900) from the delivery device (800).

Specifically, in some variations the trigger (812) may be moveablebetween three positions. While three distinct positions will bediscussed below, it should be appreciated that the trigger (812) mayalso assume one or more intermediate positions between these positions.Of the three positions, the trigger (812) may be moveable between afirst position (as shown in FIG. 8A) and a second position (as shown inFIG. 8B) to actuate the grasper (900). Specifically, the grasper (900)may comprise a first jaw (902) and a second jaw (904), and at least oneof the first jaw (902) and the second jaw (904) may be configured torotate relative to the grasper (900). The grasper (900) may be actuatedbetween an open configuration and a closed configuration.

In the open configuration, the first jaw (902) and second jaw (904) maybe held in rotationally separated positions to define a space betweenthe first jaw (902) and the second jaw (904), as shown in FIG. 8B. Inthe closed configuration, the first jaw (902) and second jaw (904) maybe rotationally biased toward each other, as shown in FIG. 8A. While thefirst jaw (902) is shown in FIG. 8A as contacting the second jaw (904)when the grasper (900) is in the closed configuration, it should beappreciated that when the grasper (900) is connected to tissue, tissuepositioned between the first jaw (902) and second jaw (904) may preventthe first jaw (902) from contacting the second jaw (904) when thegrasper (900) is in the closed configuration.

The grasper (900) may be actuated between the closed and openconfigurations to releasably connect the grasper (900) to tissue. Forexample, when the trigger (812) is in the first position (as shown inFIG. 8A), the grasper (900) may be placed in the closed configuration.As the trigger (812) is moved to the second position (as shown in FIG.8B), the grasper (900) may be moved to the open configuration. Invariations where the first jaw (902) is configured to rotate relative tothe grasper (900), moving the trigger (812) from the first position tothe second position may rotate the first jaw (902) away from the secondjaw (904), while moving the trigger (812) from the second position backto the first position may rotate the first jaw (902) toward the secondjaw (904). Accordingly, by moving the trigger (812) between the firstand second positions, a user may selectively open and close the jaws(902, 904) of the grasper (900) using the delivery device (800). Toconnect the grasper (900) to tissue, a user may place the trigger (812)in the second position (or an intermediate position between the firstand second positions) to open (or partially open) the jaws (902, 904),and may manipulate the delivery device (800) to position tissue betweenthe first jaw (902) and the second jaw (904). With the tissue positionedbetween the jaws (902, 904), the trigger (812) may be returned to thefirst position to close the jaws (902, 904) to clamp the jaws (902, 904)against the tissue, thereby releasably connecting the grasper (900) tothe tissue.

As mentioned above, the trigger (812) in some variations may beconfigured to decouple the grasper (900) from the delivery device (800).For example, the trigger (812) may be moved from the first position (asshown in FIG. 8A) to a third position (as shown in FIG. 8C), and thedelivery device (800) may be configured to decouple from the grasper(900) when the trigger (812) is moved to the third position (as will bedescribed in more detail below). When the same actuation controlmechanism is used to actuate the grasper (900) and decouple the grasper(900) from the delivery device (800), it may be desirable to decouplethe grasper (900) from the delivery device (800) when the grasper (900)is in a closed configuration and engaged with tissue. Accordingly, insome variations, the first position of the trigger (812) (which maycorrespond to a closed configuration of the grasper (900)) may be anintermediate position between the second position and third position. Inthese variations, when the trigger (812) is placed in the secondposition to place the grasper (900) in an open configuration, thetrigger (812) will move through the first position (which may move thegrasper (900) to a closed configuration) before it reaches the thirdposition. Thus the grasper (900) may be moved to the closedconfiguration before it is decoupled from the delivery device (800).

The delivery devices described here may be configured to actuate, coupleto, and decouple from, the graspers described here in any suitablemanner. For example, FIGS. 9A-9F illustrate one suitable mechanism bywhich a delivery device may be configured to actuate and couple/decouplea grasper. For example, FIG. 9A depicts a cross-sectional side view ofvariations of the grasper (900) and a distal portion of the deliverydevice (800) each described above with respect to FIGS. 8A-8C. As shownthere, the grasper (900) may comprise a first jaw (902), a second jaw(904), and a main body (906). Generally, the first jaw (902) isrotatably connected to the main body (906) at a pivot point (908), suchthat the first jaw (902) may rotate relative to the main body (906). Insome variations (such as that shown in FIGS. 9A-9F), the second jaw(904) may be fixed relative to the main body (906), while in othervariations the second jaw (904) may also be rotatably connected to themain body (906). When the second jaw (904) is fixed relative to the mainbody (906), the second jaw (904) may be formed separately from the mainbody (906) and subsequently attached thereto, or may be formedintegrally with the main body (906). When a jaw as described here isconfigured to rotate relative to a pivot point, the jaw may beconfigured to rotate in any suitable manner. In some variations, a jaw(902) may be connected to the main body (906) via a rotation pin (908),such that the jaw (902) may rotate around the rotation pin (908) (or thejaw (902) and rotation pin (908) may rotate relative to the main body(906)). In other variations, the jaw may be connected to the main bodyvia a living hinge.

The first jaw (902) and second jaw (904) may be rotationally biasedtoward each other (e.g., towards a closed configuration). In variationswhere the first jaw (902) is rotatably connected to the main body (906),the first jaw (902) may be rotationally biased toward the second jaw(904). For example, in some variations the grasper (900) may comprise aspring such as a torsional spring or a cantilever spring (not shown),which may spring-bias the first jaw (902) toward the second jaw (904).In variations where the second jaw (904) is rotatably connected to themain body (906), the second jaw (904) may also be biased towards thefirst jaw (902) (e.g., via one or more springs). The bias of the jaws(902, 904) toward the closed configuration may act to hold tissuepositioned between the first jaw (902) and the second jaw (904).

As shown in FIG. 9A, the main body (906) of the grasper (900) maycomprise a barrel portion (910) with a lumen (912) extendingtherethrough. A portion of the delivery device (800) may be advancedthrough the lumen (912) to rotate first jaw (902) (and in someinstances, the second jaw (904) in variations where the second jaw (904)is rotatably connected to the main body (906)) relative to the main body(906), as will be described in more detail below. In some variations,the lumen (912) may have a constant diameter. In other variations,different portions of the lumen (912) may have different diameters.

For example, in the variation of the grasper (900) shown in FIGS. 9A-9F,the lumen (912) of the barrel portion (910) may comprise a proximalsegment (914), a distal segment (916), and an intermediate segment (918)positioned between the proximal segment (914) and the distal segment(916). As shown in FIG. 9A, the proximal segment (914) may have a largerdiameter than the distal segment (916), and the intermediate segment(918) may have a larger diameter than both the proximal segment (914)and the distal segment (916). The proximal (914), distal (916), andintermediate (918) segments may aid in maintaining a coupling with thedelivery device (800), as will be described in more detail below.

The barrel portion (910) of the grasper (900) may be sized andconfigured to be engaged by the distal engagement portion (808) of thedelivery device (800) to releasably couple the grasper (900) to thedelivery device (800). In some variations, the outer diameter of thebarrel portion (910) may have a constant diameter, or may have differentportions of the barrel portion (910) having different diameters, such asdescribed in more detail below. Turning to the delivery device (800), inthe variation of the delivery device shown in FIGS. 9A-9F, the deliverydevice (800) may comprise an actuation rod (814) slidably disposed inthe shaft (806). The actuation rod (814) may be advanced through thelumen (912) of the barrel portion (910) of the grasper (900) to actuatethe grasper (900), as will be described in more detail below. Also shownin FIG. 9A is a locking sheath (816), a coupling magnet (818), and aspring (820). Each of these components will be discussed further below.

While shown in FIGS. 9A-9F as having a coupling magnet (818), thedelivery device (800) need not comprise a coupling magnet. In variationsof the delivery device (800) that do comprise a coupling magnet (818),the coupling magnet (818) may be slidably housed in a housing of thedistal engagement portion (808), and may be configured to releasablycouple the delivery device (800) to the grasper (900). The couplingmagnet (818) may be movable between an advanced position (as depicted inFIG. 9A) and a retracted position (as depicted in FIG. 9C). Invariations where the delivery device (800) comprises a spring (820), thespring (820) may be positioned in the distal engagement portion (808) tobias the coupling magnet (818) toward the advanced position.

The delivery device (800) may be configured to couple to the grasper(900) when the coupling magnet (818) is in the advanced position. Forexample, when the distal engagement portion (808) is brought near thegrasper (900), the coupling magnet (818) may attract the grasper (900).Generally, at least a portion of the graspers described here are formedfrom one or more materials that may be attracted to a magnetic field.The materials may include one or more permanent magnets, or one or moreferromagnetic or ferrimagnetic materials, such as, for example,stainless steel, iron, cobalt, nickel, neodymium iron boron, samariumcobalt, alnico, ceramic ferrite, alloys thereof and/or combinationsthereof. The particular configuration of the materials within thegrasper—for example, the type, amount, polarity, and location of thematerials—may alter how the grasper responds to and/or interacts with acontrol element, and is discussed in more detail below.

Accordingly, one or more portions of the grasper (900) may be formedfrom or otherwise include a material that may be attracted to a magneticfield produced by the coupling magnet (818). The attractive forceprovided by the coupling magnet (818) may hold the grasper (900) againstor at least partially within the distal engagement portion (808), suchas shown in FIG. 9B. The grasper (900) may be positioned such that aproximal end of the barrel portion (910) of the grasper (900) is heldagainst or at least partially within the distal engagement portion (808)of the delivery device (800).

To decouple the grasper (900) from the distal engagement portion (808),the coupling magnet (818) may be withdrawn to the retracted position, asshown in FIG. 9C. Because the attractive force applied by a magnetdecreases as a function of the distance from the magnet, moving thecoupling magnet (818) to the retracted position (e.g., by an actuationcontrol mechanism) may increase the distance between the grasper (900)and the coupling magnet (818) (e.g., the distal engagement portion (808)may comprise a stop (821) which may prevent the grasper (900) from beingretracted with the coupling magnet (818)), which may reduce theattractive force applied to the grasper (900). Eventually, theattractive force may be sufficiently diminished such that the grasper(900) may decouple from the delivery device (800).

Nevertheless, the coupling magnet (818) may be retracted in any suitablemanner. In some variations, the delivery device (800) may comprise acontrol sheath (not shown) which may be attached to the coupling magnet(818). The control sheath may be selectively withdrawn or advanced fromthe grasper (900) (e.g., via a control mechanism in the handle (804)) towithdraw and advance, respectively, the coupling magnet (818). In othervariations, a portion of the actuation rod (814) may be configured toretract the coupling magnet (818). For example, the actuation rod (814)may be configured to catch on or otherwise engage the coupling magnet(818) during retraction of the actuation rod (814). In these variations,the actuation rod (814) may be withdrawn until the actuation rod (814)engages the coupling magnet (818). Once the actuation rod (814) engagesthe coupling magnet (818), further withdrawal of the actuation rod (814)may also withdraw the coupling magnet (818).

For example, as shown in FIGS. 9A-9F, the actuation rod (814) may beslidably disposed within a lumen (822) of the coupling magnet (818). Insome variations, at least a segment of the actuation rod (814) may besized and configured such that the portion of the actuation rod (814)cannot fully pass through the lumen (822). For example, in somevariations a segment of the actuation rod (814) may have a diametergreater than a diameter of the lumen (822). Additionally oralternatively, the segment may comprise one or more projectionsextending from an outer surface of the actuation rod (814) and whichcannot fully pass through the lumen (822). When the segment of theactuation rod (814) is positioned distal to the coupling magnet (818),the actuation rod (814) may be freely advanced relative to the couplingmagnet (818). Conversely, withdrawal of the actuation rod (814) may pullthe segment of the actuation rod (814) into contact with the couplingmagnet (818). Since the segment cannot fully pass through the lumen(822) of the coupling magnet (818), further withdrawal of the actuationrod (814) may cause the segment of the actuation rod (814) to pull onand withdraw the coupling magnet (818). When the actuation rod (814) issubsequently advanced, the spring (820) may advance the coupling magnet(818) with the actuation rod (814) until the coupling magnet (818)reaches the advanced position.

In variations where the delivery device (800) comprises a locking sheath(816) slidably disposed in the lumen (822) of the coupling magnet (818),the locking sheath (816) may be configured to withdraw the couplingmagnet (818). For example, a segment of the locking sheath (816) may besized and configured such that the segment cannot fully pass through thelumen (822) of the coupling magnet (818), such as described above withrespect to the actuation rod (814). In the variation shown in FIGS.9A-9F, the locking sheath (816) may comprise a protrusion (824)positioned distally of the coupling magnet (818) and sized such that theprotrusion (824) cannot fully pass through the lumen (822). In thesevariations, proximal withdrawal of the locking sheath (816) through thelumen (822) may place the protrusion (824) into contact with thecoupling magnet (818), such as shown in FIGS. 9A and 9B. As depicted inFIG. 9C, further withdrawal of the locking sheath (816) may alsowithdraw the coupling magnet (818) (e.g., by virtue of the contactbetween the protrusion (824) and the coupling magnet (818)).

As mentioned above, the delivery devices described here may comprise alocking sheath (although it should be appreciated that in somevariations the delivery device may not comprise a locking sheath). Invariations where the delivery device does comprise a locking sheath(816), such as the variation of the delivery device (800) depicted inFIGS. 9A-9F, the locking sheath (816) may be slidably disposed in theshaft (806). The actuation rod (814) may in turn be positioned at leastpartially within the locking sheath (816). The locking sheath (816) maycomprise an expandable distal portion (826) which may be configured toexpand inside of the lumen (912) of the barrel portion (910) of thegrasper (900) to temporarily engage an interior portion of the lumen(912), which may help maintain the coupling between the grasper (900)and the delivery device (800).

In these variations, the delivery device (800) may be configured suchthat advancement of the actuation rod (814) relative to the lockingsheath (816) may expand the expandable distal portion (826) of thelocking sheath (816). For example, the expandable distal portion (826)of the locking sheath (816) may comprise at least one internalprojection (828) that projects inwardly and is sized and shaped to fitwithin at least one corresponding indentation (830) in the outer surfaceof the actuation rod (814). It should be appreciated that at least oneinternal projection (828) may be a single projection (e.g., an annularsnap-fit or a projection that extends radially around some or all of theinner circumference of the locking sheath (816)) or multiple discreteprojections. Similarly, the actuation rod (814) may comprise a singleindentation (e.g., an indentation that extends radially around some orall of the outer surface of actuation rod (814)) or multipleindentations.

The actuation rod (814) may be positioned within the locking sheath(816) such that the internal projections (828) of the locking sheath(816) are positioned in corresponding indentations (830) of theactuation rod (814), such as shown in FIGS. 9A-9D. This may create afriction fit or mechanical interlock between the actuation rod (814) andthe locking sheath (816), which may cause the locking sheath (816) to beadvanced and withdrawn with the actuation rod (814).

The engagement between the actuation rod (814) and the locking sheath(816) may be further configured such that under certain circumstancesthe actuation rod (814) may be advanced relative to the locking sheath(816) to expand the expandable distal portion (826) of the lockingsheath (816). For example, as shown in FIGS. 9A-9F, the internalprojections (828) of the locking sheath (816) and the correspondingindentations (830) of the actuation rod (814) may each have a rampedproximal portion. When the internal projections (828) are positionedwithin corresponding indentations (830), the ramped proximal portion ofeach internal projection (828) may be positioned in contact with theramped proximal portion of a corresponding indentation (830). Thiscontact may provide the friction fit or mechanical interlock that mayallow the actuation rod (814) to distally advance the locking sheath(816) as mentioned above.

When an external force is applied to the locking sheath (816) to resistdistal advancement of the locking sheath (816), advancement of theactuation rod (814) may overcome the friction force or mechanicalconnection between the ramped proximal portions of the internalprojections (828) and the corresponding indentations (830), at whichpoint the contacting ramped surfaces may slide relative to each other asthe actuation rod (814) begins to advance distally relative to thelocking sheath (816). As the actuation rod (814) is advanced distallyrelative to the locking sheath (816), the internal projections (828) mayslide out of their corresponding indentations (830) (such as shown inFIG. 9E), which may thereby expand the expandable distal portion (826)of the locking sheath (816).

This expansion of the expandable distal portion (826) of the lockingsheath (816) may help to maintain the temporary coupling between thedelivery device (800) and the grasper (902), as illustrated in FIGS.9D-9F. Specifically, the locking sheath (816) and actuation rod (814)may be positioned such that the internal projections (828) of thelocking sheath (816) are positioned in respective indentations (830) onthe actuation rod (814), which may allow advancement and retraction ofthe actuation rod (814) to advance and retract the locking sheath (816),as discussed above. The grasper (900) may be coupled to the distalengagement portion (808) of the delivery device (800), as shown in FIG.9C, and the actuation rod (814) may be advanced to begin advancing theactuation rod (814) and locking sheath (816) into the lumen (912) of thebarrel portion (910) of the grasper (900). The actuation rod (814) maybe sized such that it is smaller than each of the proximal segment(914), the distal segment (916), and the intermediate segment (918) ofthe lumen (912) of the barrel portion (910) of the grasper (900). Thismay allow the actuation rod (814) to be advanced through the entirelumen (912) of the barrel portion (910). The locking sheath (816),however, may be sized and configured such that it may pass through theproximal segment (914) and the intermediate segment (918) of the lumen(912), but is prevented from entering the distal segment (916).Accordingly, the actuation rod (814) may be advanced to advance theactuation rod (814) and the locking sheath (816) through the lumen (912)of the barrel portion (910) of the grasper (900) until the lockingsheath (816) reaches the distal segment (916) of the lumen (912), asshown in FIG. 9D. At this point, the locking sheath (816) may beprevented from entering the distal segment (916), and may thus beprevented from further advancement.

The actuation rod (814) may be further advanced relative to the grasper(900) to advance the actuation rod (814) through the distal segment(916) of the lumen (912). Because the locking sheath (816) is preventedfrom advancing further, the actuation rod (814) may be advanced relativeto the locking sheath (816). This may cause the internal projections(828) of the locking sheath (816) to slide out of their respectiveindentations (830) and expand the expandable distal portion (826) of thelocking sheath (816), as depicted in FIG. 9E. Specifically, theexpandable distal portion (826) may be positioned in the intermediatesegment (818) of the lumen (812) when it is expanded.

When expanded, the expandable distal portion (826) may be configured toresist being removed from the lumen (912) of the barrel portion (910) ofthe grasper (900). Specifically, the expandable distal portion (826) ofthe locking sheath (816) may be sized and configured such that, whenexpanded, the expandable distal portion (826) may be prevented frompassing through the proximal segment (914) of the lumen (912) (e.g., theouter diameter of the expanded distal portion (826) may be larger thanthe diameter of the proximal segment (914) of the lumen (912)). When theexpandable distal portion (826) of the locking sheath (816) is expandedin the intermediate segment (918) (as shown in FIG. 9E), the lockingsheath (816) may resist both advancement of the locking sheath (816)into the distal segment (916) (as discussed above) and withdrawal of thelocking sheath (816) though the proximal segment (914) of the lumen(912). Accordingly, the expanded locking sheath (816) may lock thegrasper (900) in place relative to the delivery device (800).

When the actuation rod (814) is further advanced to actuate the jaws(902, 904) of the grasper (900) (as shown in FIG. 9F, and discussed inmore detail below), the actuation rod (814) may apply one or more forcesto the grasper (900) which may have a tendency to push the grasper (900)away from the coupling magnet (818) (which in some instances couldpossibly inadvertently decouple the grasper (900) from the deliverydevice (800)), but the engagement between the expanded locking sheath(816) and the grasper (900) may overcome these forces to maintain theposition of the grasper (900) relative to the delivery device (800).

To disengage the locking sheath (816) from the grasper (900), theactuation rod (814) may be retracted until the indentations (830) of theactuation rod (814) reach the internal projections (828) of the lockingsheath (816). The expandable distal portion (826) of the locking sheath(816) may be biased toward an unexpanded state such that the internalprojections (828) reposition themselves into their respectiveindentations (830), as shown in FIG. 9D. The actuation rod (814) maythen be withdrawn to withdraw the locking sheath (816) (e.g., by virtueof the connection between the indentations (830) and the internalprojections (828)).

The grasper (900) may be configured to be actuated in any suitablemanner. In some variations, the grasper (900) may be configured suchthat it may be actuated by a force applied internally of the grasper(900) (e.g., via an actuation rod (814) of the delivery device (800)advanced through the lumen (912) of the barrel portion (910) of thegrasper (900), as discussed in more detail below), and may be furtherconfigured such that it may be actuated by a force applied externally ofa grasper (900) (e.g., via a grasping device). For example, in thevariation of the grasper (900) shown in FIGS. 9A-9F, the grasper (900)may comprise a proximal arm (920) connected to the first jaw (902),wherein rotation of the proximal arm (920) rotates the first jaw (902)relative to the main body (906) and second jaw (904) of the grasper(900). The proximal arm (920) may act as a lever and/or a cam to rotatethe first jaw (902).

For example, in some instances the proximal arm (920) may act as a camto rotate the first jaw (902). In these instances, the actuation rod(814) of the delivery device (800) may rotate the first jaw (902).Specifically, a portion of the proximal arm (920) may be alignedrelative to the lumen (912) such that advancement of the actuation rod(814) through the lumen (912) pushes the actuation rod (814) intocontact with the proximal arm (920), as illustrated in FIG. 9E. Once incontact with the proximal arm (920), advancement of the actuation rod(814) may push against the proximal arm (920). The proximal arm (920)may act as a cam to convert the linear motion of the actuation rod (814)into rotation of the proximal arm (920), which may in turn rotate thefirst jaw (902) away from the second jaw (904) as shown in FIG. 9F. Whenthe first jaw (902) is spring-biased toward the second jaw (904), therotation of the proximal arm (920) may overcome this spring bias, whichmay allow the actuation rod (814) to hold the first jaw (902) in itsopen position. Additionally, the first jaw (902) may rotate back towardthe second jaw (904) when the actuation rod (814) is retracted.

Additionally, in the variation of the grasper (900) shown in FIGS.9A-9F, at least a portion of the proximal arm (920) may be exposedrelative to the main body (906), which may allow a grasping device tograsp the proximal arm (920) to rotate the first jaw (902) relative tothe second jaw (904). For example, opposing forces (represented byarrows (922) in FIG. 9A) may be applied (e.g., via a grasping device) tothe exposed portion of the proximal arm (920) and the main body (906) tocause the proximal arm (920) to rotate around the pivot point (908)(which may in turn rotate the first jaw (902) away from the second jaw(904)).

While the proximal arm (920) is shown in FIGS. 9A-9F as being curved, itshould be appreciated that in some variations the graspers describedhere may also comprise one or more straight segments. The actuation rod(814) may be advanced and withdrawn in any suitable manner. For example,when the delivery device (800) comprises an actuation control mechanism,such as a slider, knob, trigger, or the like, the actuation controlmechanism may be operatively connected to the actuation rod (814) suchthat the actuation control mechanism may advance and withdraw theactuation rod (814). For example, in the variation of the deliverydevice (800) shown in FIGS. 8A-8C, the trigger (812) may be configuredto advance and retract the actuation rod (814). In some of thesevariations, the trigger (812) may be configured such that rotation ofthe trigger (812) toward the grip portion (810) withdraws the actuationrod (814) relative to the shaft (806), while rotation of the trigger(812) away from the grip portion (810) advances the actuation rod (805)relative to the shaft.

In these variations, when the trigger (810) is in the first position (asshown in FIG. 8A), the actuation rod (814) may be positioned as shown inFIGS. 9A and 9B with the coupling magnet (818) in an advanced position,which may allow the distal engagement portion (808) to connect to agrasper (such as grasper (900), as illustrated in FIGS. 8A and 9B). Thetrigger (812) may be rotated toward the grip portion (810) to positionthe trigger (812) in the third position (as shown in FIG. 8C), and thisrotation may retract the actuation rod (814) relative to the shaft(806). Retraction of the actuation rod (814) may also withdraw thecoupling magnet (818) to a retracted position, such as illustrated inFIG. 9C, which may decouple a grasper from the delivery device (800) asdescribed above. The trigger (812) may be rotated away from the gripportion (810) and back to the first position to advance the actuationrod (814) back to the position shown in FIGS. 9A and 9B.

Further rotation of the trigger (812) away from the grip portion (810)may move the trigger (812) from the first position to the secondposition (as shown in FIG. 8B) and may advance the actuation rod (814)through a lumen of a barrel portion of a grasper (e.g., the lumen (912)of the barrel portion (910) of the grasper (900) described above) torotate one or more jaws of the grasper (as shown in FIG. 9F). Returningthe trigger (812) to the first position (e.g., by rotating the trigger(812) toward the grip portion (810)) may withdraw the actuation rod(814) relative to the shaft (806) and the grasper, which may allow thegrasper to return to a closed configuration. It should be appreciatedthat in some variations, rotation of the trigger (812) toward the gripportion (810) may be configured to advance the actuation rod (814)relative to the shaft (806), while rotation of the trigger (812) awayfrom the grip portion (810) may retract the actuation rod (814) relativeto the shaft (806).

FIGS. 11A-11C depict another variation of a grasper (1100) as describedhere. Specifically, FIGS. 11A and 11B show perspective and side views,respectively, of the grasper (1100). As shown there, the grasper (1100)may comprise a first jaw (1102), a second jaw (1104), and a main body(1106). Generally, the first jaw (1102) may be rotatably connected tothe main body (1106) at a pivot point (1108), such that the first jaw(1102) may rotate relative to the main body (1106). While the second jaw(1104) is shown in FIGS. 11A-11C as being fixed relative to the mainbody (1106), it should be appreciated that in some variations the secondjaw (1104) may be rotatably connected to the main body (1106), such asdiscussed in more detail above. The first jaw (1102) (and/or the secondjaw (1104) in variations where the second jaw (1104) is rotatablyconnected to the main body (1106)) may be rotated relative to the mainbody (1106) to actuate the grasper (1100) between an open configurationand a closed configuration.

Specifically, in the open configuration, the first jaw (1102) and thesecond jaw (1104) may be held in rotationally separated positions todefine a space between the first jaw (1102) and the second jaw (1104),as shown in FIG. 11A. In the closed configuration, the first jaw (1102)and second jaw (1104) may be rotationally biased toward each other, asshown in FIG. 11B. While the first jaw (1102) is shown as contacting thesecond jaw (1104) in FIG. 11B, it should be appreciated that when thegrasper (1100) is connected to tissue, tissue positioned between thefirst jaw (1102) and the second jaw (1104) may prevent the first jaw(1102) from contacting the second jaw (1104) when the grasper is in theclosed configuration. The first jaw (1102) and second jaw (1104) may berotationally biased toward a closed configuration in any suitable manner(e.g., via a torsional spring (not shown)), such as described in moredetail above.

The main body (1106) of the grasper (1100) may comprise a barrel portion(1110) with a lumen (1112) extending therethrough. A portion of adelivery device may be advanced at least partially into the lumen (1112)to actuate the grasper (1100) between closed and an open configurations,as will be discussed in more detail below. The outer diameter of thebarrel portion (1110) may be uniform, or may vary along the length ofthe barrel portion (1110). For example, in the variation of the grasper(1100) shown in FIGS. 11A-11C, the barrel portion (1110) may have afirst segment (1140) having a first outer diameter and a second segment(1142) having a second outer diameter. In some variations, the firstouter diameter may be greater than the second outer diameter, which mayallow the first segment (1140) to act as a stop when engaged by adelivery device, such as discussed in more detail herein. For example,in some variations the first segment may have a first outer diameter ofabout 10 mm, and the second segment may have an outer diameter betweenabout 7 mm and about 9 mm.

In some variations (such as the variation of grasper (1100) illustratedin FIGS. 11A-11C), the barrel portion (1110) may further comprise atapered portion (1144) positioned between the first segment (1140) andthe second segment (1142), such that the outer diameter of the taperedsegment (1144) tapers between the first outer diameter and the secondouter diameter. It should be appreciated, however, that the barrelportion (1110) need not have such a tapered portion (1144), and thefirst segment (1140) may immediately transition to the second segment(1142). In variations that do include a tapered segment (1144), thetapered segment (1144) may provide a gradual diameter transition betweenthe first (1140) and second (1142) segments, which may in turn reducethe presence of edges that may catch on or otherwise disturb tissueduring use of the grasper (1100).

Additionally or alternatively, the barrel portion (1110) may have atapered segment (1146) at a proximal end of the barrel portion (1110),which may also be at a proximal end of the first segment (1140). Inthese variations, the diameter of the tapered segment (1146) may taperfrom the first outer diameter of the first segment (1140) to a thirdouter diameter smaller than that of the first outer diameter. Invariations that include a tapered segment (1146) at a proximal end ofthe barrel portion (1110), the tapered diameter may facilitate alignmentof the barrel portion (1110) with a portion of the delivery device.Specifically, when a proximal end of the barrel portion (1110) isinserted into a portion of a delivery device (as described in moredetail below), the tapered segment (1146) may help guide the barrelportion (1110) into the delivery device, which may be beneficial ininstances where the delivery device (or another retrieval device) isconnected to the grasper to retrieve the grasper.

The first jaw (1102) may be configured to rotate in any suitable mannersuch as described above. For example, in the variation of the grasper(1100) shown in FIGS. 11A-11C, the grasper (1100) may comprise aproximal arm (1120) connected to the first jaw (1102) such that rotationof the proximal arm (1120) relative to the pivot point (1108) rotatesthe first jaw (1102) relative to the pivot point (1108) (which may alsorotate the first jaw (1102) relative to the main body (1106) and/or thesecond jaw (1104)). While the proximal arm (1120) shown in FIGS. 11A-11Cmay comprise a curved arm (1120) that may be configured to act as both acam and a lever (similar to the proximal arm (920) of the grasper (900)discussed above with respect to FIGS. 8A-8C and 9A-9F). The proximal arm(1120) (and/or an eccentric cam member) may assist in actuation of thegrasper (1100), as described hereinthroughout.

Generally, at least a portion of the proximal arm (1120) may be exposedrelative to the main body (1106), which may allow a grasping device tograsp the proximal arm (1120) to rotate the first jaw (1102) relative tothe second jaw (1104), as will be discussed in more detail below.Specifically, the main body (1106) may comprise a barrel extension(1160) between the barrel portion (1110) and the pivot point (1108). Asshown in a cross-sectional side view in FIG. 6C, the barrel extension(1160) may comprise a channel (1162) extending at least partiallythrough the barrel extension (1160). In the variation shown in FIGS.11A-11C, the channel (1162) may extend entirely through the barrelextension (1160). The barrel extension (1160) may have a wall (1164) onone or both sides of the channel (1162). In the variation shown in FIGS.11A-11C, the barrel extension (1160) may have a wall (1164) on each sideof the channel (1162). The proximal arm (1120) may be positioned atleast partially within the channel (1162), and may be configured torotate through the channel (1162) as the grasper (1100) is actuatedbetween open and closed configurations.

Generally, each wall (1164) of the barrel extension (1160) may have atop edge (1166) and a bottom edge (1168). The top edge (1166) and bottomedge (1168) may have any suitable profile, and together may define aheight of the wall (1164). For example, in the variation shown in FIGS.11A-11C, the bottom edge (1168) may be linear and substantially parallelto a longitudinal axis, while the top edge (1166) may include a linearportion (1180) positioned between two ramped segments (labeled (1182)and (1184)). In these variations, the height of the walls (1164) maydecrease along each of the ramped segments (1182) and (1184) toward thelinear portion (1180). This may facilitate grasping of the grasper(1100) with a grasping device, as will be described in more detailbelow. In other variations, the top edge (1166) and/or the bottom edge(1168) may have a curved profile.

In some variations, the graspers described here may comprise a shuttlepin at least partially positioned in a lumen of the barrel portion ofthe grasper. Generally, the shuttle pin may reduce the distance anactuation rod may need to be inserted into the barrel portion in orderto actuate the grasper. For example, in the variation of the grasper(1100) shown in FIG. 11C, the grasper (1100) may further comprise ashuttle pin (1150). The shuttle pin (1150) may be positioned at leastpartially within the lumen (1112) of the barrel portion (1110) of thegrasper (1100) and may be configured to slide relative to the lumen(1112). The shuttle pin (1150) may have a proximal end (1152) and adistal end (1154), and may assist in actuation of the grasper (1100).Specifically, advancement of a portion of a delivery device (e.g., anactuation rod) into the lumen (1112) of the barrel portion (1110) maycause the delivery device to contact the proximal end (1152) of theshuttle pin (1150) and advance the shuttle pin (1150) relative to thelumen (1112). As the shuttle pin (1150) is advanced relative to thelumen (1112) of the barrel portion (1110), the distal end (1154) of theshuttle pin (1150) may press against the proximal arm (1120) (or aneccentric cam member, in variations where the grasper includes aneccentric cam member), which may cause the proximal arm (1120) to act asa cam member, such as discussed in more detail above.

Without the shuttle pin (1150), an actuation rod may otherwise need tobe inserted into the barrel portion (1110) until it contacts theproximal arm (1120) directly, such as discussed above. When the deliverydevice is withdrawn relative to the shuttle pin (1150), the return biasof the first jaw (902) toward a closed configuration may push theshuttle pin (1150) proximally relative to the lumen (1112) of the barrelportion (1110). While the variations of the graspers discussed abovewith respect to FIGS. 9A-9F are not depicted as having a shuttle pin, itshould be appreciated that any of these graspers may comprise a shuttlepin, which may be configured in any suitable manner as discussed withrespect to shuttle pin (1150) of the grasper (1100) shown in FIGS.11A-11C.

In variations where the graspers described here comprise a shuttle pin,the grasper may be configured to help prevent the shuttle pin fromdisengaging from the grasper. In some variations, at least a portion ofa shuttle pin may be configured to have an outer profile that is largerthan at least a portion of the lumen of the barrel portion of a mainbody. For example, in the variation of the shuttle pin (1150) shown inFIG. 11C, the distal end (1154) may comprise a cap (1156) that may havean outer diameter sized to be larger than the lumen (1112) of the barrelportion (1110) of the main body (1106). The shuttle pin (1150) may bepositioned in the lumen (1112) such that the cap (1156) is positioneddistally of the lumen (1112). Because the cap (1156) is sized largerthan the lumen (1112), it may be prevented from entering the lumen(1112) as the shuttle pin (1150) is slid proximally relative to thebarrel portion (1110). Accordingly, the shuttle pin (1150) may slideproximally until the cap (1156) contacts the barrel portion (1110), atwhich point the cap (1156) may act as a stop to prevent further proximalmovement of the shuttle pin (1150). This may prevent the shuttle pin(1150) from sliding out of the proximal end of the barrel portion (1110)and disengaging the grasper (1100).

Additionally, the grasper (1100) may be configured to limit the amountof distal advancement of the shuttle pin (1150). Generally, a portion ofa proximal arm or an eccentric cam member (e.g., the proximal arm (1120)of grasper (1100)) may be aligned with the lumen of the barrel portion,which may resist or stop forward advancement of the shuttle pin (1150)due to gravitational forces. When a delivery device or other device isused to advance the shuttle pin (1150) to rotate the proximal arm and/oreccentric cam member, the delivery device and/or grasper may beconfigured to limit advancement of the shuttle pin (e.g., by blockingadvancement of the shuttle pin (1150) when the grasper is opened, asdiscussed in more detail below).

In some of these variations, when a delivery device is used to advancethe shuttle pin (1150), it may be configured to advance the shuttle pina predetermined distance (e.g., about 1 cm, about 1.25 cm, about 2 cm,or the like) to actuate the grasper (1100). In these variations, theshuttle pin (1150) may be sized to be longer than this predetermineddistance (e.g., greater than about 2.5 cm, greater than about 3 cm, orthe like), such that at least a portion of the shuttle pin (1150) mayremain in the lumen when fully advanced by the delivery device. In someof these variations, the shuttle pin may be sized with a length suchthat at least a predetermined length (e.g., about 1.25 cm) of theshuttle pin remains in the lumen (1112) when the shuttle pin (1150) hasbeen advanced the predetermined distance (e.g., for an advancementdistance of about 1.25 cm, the shuttle pin may have a length of about2.5 cm).

Additionally or alternatively, the grasper (1100) may be configured tolimit the amount that the delivery device may advance the shuttle pin(1150). For example, in some variations, a portion of the grasper (1100)may be positioned in the path of the shuttle pin (1150) and resistsfurther advancement of the shuttle pin (1150) by the delivery device.For example, the pivot point (1108) may be positioned along the movementpath of the shuttle pin (1150). In these variations, the distal end(1154) of the shuttle pin (1150) may be stopped from further advancementby a portion of the first jaw (1102) and/or the proximal arm (1120)(and/or the eccentric cam member, in variations where the graspercontains an eccentric cam member) near the pivot point (1108).

The grasper (1100) shown in FIGS. 11A-11C may be actuated in anysuitable manner. In some variations, the grasper (1100) may beconfigured such that it may be actuated by a force applied internally ofthe grasper (1100) (e.g., via an actuation rod of a delivery deviceadvanced through the lumen (1112) of the barrel portion (1110) of thegrasper (1100), as discussed in more detail below), and may be furtherconfigured such that it may be actuated by a force applied externally ofa grasper (1100) (e.g., via a grasping device).

FIGS. 12A-12D depict cross-sectional side views of a distal portion of adelivery device (1200) and a manner of actuating the grasper (1100)using the delivery device (1200). The delivery device (1200) and grasper(1100) may be configured for minimally invasive introduction into thebody, such as described above. Specifically, the delivery device (1200)may comprise a handle (not shown), a shaft (1206) extending from thehandle, and a distal engagement portion (1208) at a distal end of theshaft (1206). The handle may comprise an actuation control mechanismthat may be manipulated by a user to controllably actuate the grasper,and may be configured as described above with respect to the handle(804) of the delivery device (800) described above with respect to FIGS.8A-8C. In some of these variations, the actuation control mechanism maycomprise a trigger.

In some of these variations, the actuation control mechanism may beconfigured to both actuate the grasper (1100) and the delivery device(1200). In variations where the actuation control mechanism comprises atrigger, the trigger may be moveable between three positions (althoughit should be appreciated that the trigger may assume one or moreintermediate positions between these positions). Of the three positions,the trigger may be moveable between a first position (such as theposition of the trigger (812) of the delivery device (800) shown in FIG.8A) and a second position (such as the position of the trigger (812) ofthe delivery device (800) as shown in FIG. 8B) to close and open,respectively, the grasper (1100). The trigger may be moveable to a thirdposition (such as the position of the trigger (812) of the deliverydevice (800) as shown in FIG. 8C) to eject or otherwise release thegrasper (1100) from the delivery device (1200). In some of thesevariations, to move the trigger from the second position (in which thegrasper (1100) is placed in an open configuration) to the third position(to eject the grasper (1100) from the delivery device (1200)), thetrigger may need to be moved through the first position, thereby movingthe grasper (1100) to a closed configuration prior to ejecting thegrasper (1100).

Returning to FIGS. 12A-12D, in some variations the distal engagementportion (1208) of the delivery device (1200) may comprise a couplingmagnet (1218) and a spring (1220). In these variations, the couplingmagnet (1218) may be slidably housed in the distal engagement portion(1208) (e.g., in a housing of the distal engagement portion (1208)). Thecoupling magnet (1218) may be moveable between an advanced position (asdepicted in FIGS. 12A-12C) and a retracted position (as depicted in FIG.12D). The spring (1220) may be positioned within the distal engagementportion (1208) such that the spring (1220) biases the coupling magnet(1218) toward the advanced position. The delivery device (1200) may beconfigured to couple to the grasper (1100) when the coupling magnet(1218) is in the advanced position.

As described in more detail herein, at least a portion of the grasper(1100) may comprise one or more materials configured to be attracted bya magnetic field. When the grasper (1100) is positioned near the distalengagement portion (1208) (such as shown in FIG. 12A), the couplingmagnet (1218) may attract the grasper (1100) and temporarily couple thegrasper (1100) to the delivery device (1200).

Specifically, when the grasper (1100) is temporarily coupled to thedelivery device (1200), at least a portion of the barrel portion (1110)may be positioned within the distal engagement portion (1208), as shownin FIG. 12B. The attractive force between the coupling magnet (1218) andthe grasper (1100) may hold the grasper (1100) in place. In variationswhere the grasper (1100) has a barrel portion (1110) having a firstsegment (1140) having a first outer diameter and a second segment (1142)having a second outer diameter (e.g., FIG. 11B), the second outerdiameter may be sized to fit within the distal engagement portion (1208)while the first outer diameter may be sized such that it is too large tofit within the distal engagement portion (1208). In these variations,the first segment (1140) (or a tapered segment (1144) between the firstsegment (1140) and the second segment (1142)) may act as a stop to limitthe amount of the barrel portion (1110) that may enter the distalengagement portion (1208).

It should be appreciated that in some variations the proximal end of thegrasper may comprise a magnetic element used with a control element tomaneuver the grasper. In these variations, the magnetic element in theproximal end of the grasper may also be used to attract the distalengagement portion of the delivery device and couple the grasper and thedelivery device. Additionally, the delivery device may comprise acoupling magnet, but need not. When the delivery device does notcomprise a coupling magnet, a distal engagement portion of the deliverydevice may comprise a coupling element comprising a ferromagnetic orferrimagnetic material that is slidably housed in the distal engagementportion. The coupling element may be configured to move between anadvanced position and a retracted position, where the delivery device isconfigured to couple to the grasper via attractive force between themagnetic element in the grasper and the coupling element when thecoupling element is in the advanced position.

In order to decouple the grasper (1100) from the distal engagementportion (1208), the coupling magnet (1218) may be withdrawn to theretracted position, such as shown in FIG. 12D. As the coupling magnet(1218) is retracted, the attractive force between the coupling magnet(1218) and the grasper (1100) may move the grasper (1100) proximallyrelative to the distal engagement portion (1208). The first segment(1140) (or the tapered segment (1144)) may limit the movement of thegrasper (1100) into the distal engagement portion (1208), such that thedistance between the coupling magnet (1218) and the grasper (1100)increases. This may decrease the attractive force between the couplingmagnet (1218) and the grasper (1100), which may allow the grasper (1100)to be pulled from, released from, or otherwise fall from the distalengagement portion (1208).

The coupling magnet (1218) may be retracted in any suitable manner, suchas described in more detail above. For example, in the variation of thedelivery device (1200) shown in FIGS. 12A-12D, the delivery device(1200) may comprise an actuation rod (1214) slidably disposed in theshaft (1206). The actuation rod (1214) may be configured to retract thecoupling magnet (1218). For example, the actuation rod (1214) may beslidably disposed within a lumen (1222) of the coupling magnet (1218).In some variations, at least a segment of the actuation rod (1214) maybe sized and configured such that the portion of the actuation rod(1214) cannot fully pass through the lumen (1222). For example, thevariations in FIGS. 12A-12D show a segment (1240) of the actuation rodthat may have a diameter greater than a diameter of the lumen (1222).

Additionally or alternatively, the segment (1240) may comprise one ormore projections extending from an outer surface of the actuation rod(1214) and which cannot fully pass through the lumen (1222). When thesegment (1240) of the actuation rod (1214) is positioned distal to thecoupling magnet (1218), the actuation rod (1214) may be freely advancedrelative to the coupling magnet (1218). Conversely, withdrawal of theactuation rod (1214) may pull the segment (1240) of the actuation rod(1214) into contact with the coupling magnet (1218). Since the segment(1240) cannot fully pass through the lumen (1222) of the coupling magnet(1218), further withdrawal of the actuation rod (1214) may cause thesegment of the actuation rod (1214) to pull on and withdraw the couplingmagnet (1218). When the actuation rod (1214) is subsequently advanced,the spring (1220) may advance the coupling magnet (1218) with theactuation rod (1214) until the coupling magnet (1218) reaches theadvanced position.

The actuation rod (1214) may be advanced or retracted relative to theshaft (1206) to actuate and/or eject the grasper (1100). In variationswhere the handle comprises a trigger (such as discussed above), thetrigger may be operatively connected to the actuation rod (1214), suchthat movement of the trigger slides the actuation rod (1214). Movementof the actuation rod (1214) may rotate the first jaw (1102) of thegrasper (1100). Specifically, when the grasper (1100) is coupled to thedelivery device (1200) (as shown in FIG. 12B), the actuation rod (1214)may be aligned with the lumen (1112) of the barrel portion (1110) suchthat the actuation rod (1214) enters the lumen (1112). As the actuationrod (1214) is advanced into the lumen (1112), the actuation rod (1214)may press against the proximal end (1152) of the shuttle pin (1150) andadvance the shuttle pin (1150) along the lumen (1112). As the shuttlepin (1150) is advanced along the lumen (1112), the distal end (1154) ofthe shuttle pin (1150) may move into the channel (1162) of the barrelextension (1160). The distal end of the shuttle pin (1150) may in turnpush against the proximal arm (1120) (e.g., against a portion of theproximal arm (1120) that is positioned in the channel (1162) and alignedwith the lumen (1112)). The proximal arm (1120) may act as a cam toconvert the linear motion of the shuttle pin (1150) into rotation of theproximal arm (1120), which may in turn rotate the first jaw (1102) awayfrom the second jaw (1104). When the first jaw (1102) is spring-biasedtoward the second jaw (1104), the rotation of the proximal arm (1120)may overcome this spring bias, which may allow the actuation rod (1214)to hold the first jaw (1102) in its open position, as shown in FIG. 12C.

Additionally, the first jaw (1102) may rotate back toward the second jaw(1104) when the actuation rod (1214) is retracted. Specifically, as theactuation rod (1214) is withdrawn, the return bias of the first jaw(1102) may cause the proximal arm (1120) to push against the shuttle pin(1150), which may slide the shuttle pin (1150) proximally within thelumen (1112). This may return the grasper (1100) to a closedconfiguration, such as shown in FIG. 12B. When the grasper (1100) isclosed around tissue, the actuation rod (1214) may be further retractedto release the grasper (1100) from the delivery device (1200), asdiscussed above. When a trigger is moveable between three positions toactuate and release the grasper (1100) as discussed above, placing thetrigger in the first position may position the actuation rod (1214) in aposition as illustrated in FIG. 12B, in which the grasper (1100) may becoupled to the delivery device (1200) in a closed configuration. Movingthe trigger to the second position may advance the actuation rod to theposition illustrated in FIG. 12C, in which the grasper (1100) may bereleasably coupled to the delivery device (1200) in an openconfiguration. Moving the trigger to the third position may retract theactuation rod (1214) to the position illustrated in FIG. 12D, in whichthe grasper (1100) may be decoupled from the delivery device (1200).

Additionally, in the variation of the grasper (1100) shown in FIGS.11A-11C, at least a portion of the proximal arm (1120) may be exposedrelative to the main body (1106) (e.g., at least a portion of theproximal arm (1120) may extend out of the channel (1162) of the barrelextension (1160)), which may allow a grasping device to grasp theproximal arm (1120) to rotate the first jaw (1102) relative to thesecond jaw (1104). For example, opposing forces (represented by arrows(1122) in FIG. 11C) may be applied (e.g., via a grasping device) to theexposed portion of the proximal arm (1120) and the main body (1106)(e.g., the barrel extension (1160)) to cause the proximal arm (1120) torotate around the pivot point (1108) (which may, in turn rotate thefirst jaw (1102) away from the second jaw (1104)). In these variations,the height of the walls (1164) of the barrel extension (1160) may limitthe amount that the proximal arm (1120) may be rotated (e.g., a graspingdevice may rotate the proximal arm (1120) until the grasping devicecontacts the top and bottom edges of the wall).

Additionally or alternatively, when the top and/or bottom edges of awall of the barrel portion are curved or ramped, the curved or rampededges may help guide a grasping device toward another section of thebarrel extension (1160) during grasping. Specifically, if the graspingdevice applies a compressive force at a ramped or curved portion of anedge, the grasping device may slide along the ramped/curved portiontoward a shorter portion of the wall. For example, in the variation ofthe grasper (1100) shown in FIGS. 11A-11C, if a grasping device appliesa compressive force at either the ramped segments (1182) or (1184) ofthe top edge (1166), the grasping device may slide toward the linearportion (1180).

2. Grasper

As mentioned above, the graspers described herein may comprise a firstjaw and a second jaw, and at least one of the first jaw and the secondjaw may be configured to rotate relative to the grasper to actuate thegrasper between an open configuration and a closed configuration. Thejaws may be configured in the closed configuration to secure tissue. Insome variations, the graspers may be configured to secure tissue byengaging the tissue between a grasping surface of each of the two jaws(e.g., gripping, squeezing, compressing, etc. the tissue between the twojaws). That is, the jaws may be configured to hold tissue between twosurfaces that would be in contact in the closed configuration but forthe tissue between the surfaces. In these variations, the jaws of thegraspers may comprise one or more features which may promote engagementwith tissue. In some variations, one or more surfaces of a jaw may beroughened, which may help to reduce slipping between the jaws andtissues.

Additionally or alternatively, the graspers may comprise teeth or otherprojections which may facilitate engagement of the jaw with tissue. Forexample, in the variation of the grasper (1100) shown in FIGS. 11A-11C,the first jaw (1102) and the second jaw (1104) may each include agrasping surface (1190) having a plurality of teeth (1192). In a closedconfiguration, the grasper (1100) may be configured to engage tissuebetween the teeth (1192) of the grasping surfaces (1190). In variationsin which the grasper (1100) is biased toward the closed configuration,the combination of the size, shape, and features (e.g., teeth) of thegrasper (1100), as well as the biasing force (e.g., due to a torsionalor cantilever spring), may be chosen to produce a desired grasping forceon the tissue. It may in some instances be desirable for the graspingforce to allow the delivery device to be decoupled from the grasper(1100) and to allow the tissue to be held securely during a procedure,while not causing tissue damage.

In some variations, one or more jaws of the graspers described here mayinclude a longitudinal recess extending at least partially through thejaws. With reference to FIG. 11C for example, grasper (1100) may includea recess (1194) extending at least partially through the graspingsurface (1190) and some of the teeth (1192). Similarly, graspers (1300),(1400), and (1500) may include recesses (1394), (1494), and (1594),respectively, extending at least partially through each of first andsecond jaws (1302, 1304), (1402, 1404) and (1502, 1504), respectively.In these variations, when the jaws are used to grasp tissuetherebetween, tissue may be squeezed or captured into or otherwise enterthe recess of each jaw, which may help to provide a more secure holdbetween the grasper and the tissue. The size and placement of therecesses may also influence the effect of a magnetic field on thegraspers, as described in more detail below.

In some variations of the graspers described here, the grasper maycomprise one or more coatings which may help to smooth discontinuitiesin the contours of the grasper and may act to provide one or moreatraumatic surfaces of the grasper. The one or more coatings maycomprise silicone, urethane, one or more nylon blends, polyethylenes,fluoropolymers, combinations thereof and the like. It may also bedesirable to use certain coatings and/or materials in or on all or aportion of the grasper in order to reduce the occurrence of unintendedelectrical current flowing through the grasper. For example, in asurgical procedure involving electrical current (e.g., electrocautery),if the grasper contacts an electrocautery instrument, the electricalcurrent may flow through the grasper and cause cauterization of, orburns in, the various tissues touching the grasper. This cauterizationor burning of the tissue may be unintended and/or undesirable. Thus,non-conducting materials and/or coatings may be used on all or a portionof the grasper (e.g., a portion of the grasper closest to the surgicalsite) to reduce or eliminate the flow of electrical current through thegrasper and thus reduce the likelihood that tissue may be damagedunintentionally by electrical current. For example, and as described inmore detail below, in some variations, one of the jaws of a grasper(such as any of the graspers described herein) may be made ofnon-conducting material. Additionally or alternatively, the distalportion of one or both of the jaws of a grasper (such as any of thegraspers described here) may be made of a non-conducting material. Anysuitable non-conductive material (e.g., plastic, or the like) and/ornon-conductive coating (e.g., paints, plastic tubing, co-moldedthermoplastic elastomers, a combination thereof, or the like) may beused. In some instances, materials used for non-conductive propertiesmay be the same as those used for non-magnetic properties (e.g.,plastic), which are described in more detail below.

B. Maneuvering the Grasper

As mentioned above, the graspers described here may be used to provideremote manipulation of tissue during a minimally-invasive procedure.During such a procedure, it may be desirable to maneuver and/or controlthe grasper using one or more elements located outside of the body(e.g., one or more control elements), so that the delivery devicesdescribed here may be withdrawn, and the access ports may be utilizedfor other tools and/or instruments. It may also be desirable to maneuveranother tool using one or more elements located outside of the body(e.g., one or more control elements), so that the position and/ororientation of the tool can be controlled without occupying an accessport.

Maneuvering and/or controlling the grasper using one or more elementslocated outside the body, and not through a physical connection via anaccess port, may additionally or alternatively allow for force to beapplied to the grasper (and in turn to tissue) in a direction differentfrom the direction of force that may be applied through an access port.This may allow force to be applied to the grasper (and in turn totissue) in a greater number of directions. Additionally oralternatively, maneuvering and/or controlling the grasper using one ormore elements located outside the body, and not through a physicalconnection via an access port, may allow for improved visualization of aregion of interest. In some variations, it may be desirable to controlan orientation of the grasper using one or more elements located outsideof the body (e.g., one or more control elements) to increasemaneuverability and control of the grasper.

Generally, the graspers may be maneuvered using one or more attractiveand/or repulsive forces. Specifically, the graspers may be configured tobe attracted to and/or repelled by one or more magnetic elementspositioned externally of the body. Attractive and/or repulsive forcesoriginating from outside the body may be used to move, reposition,and/or hold the grasper. These forces may in turn move, hold, and/orprovide traction for the tissue held by the grasper. In some instances,it may be desirable to configure the grasper and the control elementsuch that their magnetic attributes and/or those of the control elementdo not affect other instruments that are not intended to be part of themagnetically controlled grasping system described herein.

The graspers described here may generally comprise a combination ofmaterials having different magnetic behavior. Varying the type ofmaterials in the grasper, where they are located in and/or on thegrasper, and the configuration of those materials, may serve severalpurposes. Generally, the arrangement of non-magnetic, ferromagnetic,ferrimagnetic, and/or diamagnetic materials within an instrument mayalter the behavior of the instrument when it is exposed to a magneticfield. The use of a combination of these materials may provide increasedcontrol over the movements of the grasper and the tissue held within itsjaws, as compared to a grasper made from only one type of material. Theconfiguration of the materials within the grasper—for example, the type,amount, polarity, and location of the materials—may alter how thegrasper responds to and/or interacts with a control element.

For example, using both magnetic and non-magnetic materials may affectwhich portions of the grasper are attracted to, unaffected by, orrepelled by magnetic fields generated by the control element (and mayaffect which portions of the grasper may create magnetic fields that mayattract, not affect, or repel portions of the control element).

As another example, increasing the amount of magnetic material locatedin a specific portion of the grasper may increase the attractive orrepulsive force between that portion of the grasper and a controlelement. Similarly, removing magnetic material from a specific portionof the grasper and replacing it with a non-magnetic material maydecrease the attractive or repulsive force between that portion of thegrasper and the control element. Varying the type of materials and wherethey are located may also modify the distribution of the mass of thegrasper, which may contribute to a user's ability to control andmaneuver the grasper. As mentioned above, this may provide for bettercontrol over the grasper and the tissue within its jaws, as described inmore detail below.

As another example, the response of a grasper to an applied magneticfield may also be altered by removing material entirely to leave an airgap (in instances where the material is not required for the grasper tohold tissue as desired). With reference to FIG. 11C for example, grasper(1100) may include a recess (1194) extending at least partially throughthe grasping surface (1190) and some of the teeth (1192) of the firstjaw (1102). In variations in which the jaws (1102, 1104) comprise amaterial attracted to a magnetic field, when a magnetic field is appliedto grasper (1100), a greater force may be generated on the second jaw(1104) than the first jaw (1102), since the second jaw (1104) comprisesmore material. As a result, when the grasper (1100) is located in anabdominal cavity and controlled by a magnetic field from an externalcontrol element, the grasper (1100) may have an increased tendency tolie parallel to the cavity wall with the second jaw (1104) against thecavity wall.

Additionally or alternatively, employing both magnetic and non-magneticmaterials may allow for control over the grasper from outside the bodywhile decreasing the likelihood that other surgical instruments will beattracted to and/or will stick to the grasper. These other instruments,when attracted to and/or stuck on the grasper, may interfere with theability to execute fine motions that may be required during a surgicalprocedure, and may cause delays during surgical procedures caused by theneed to separate surgical instruments that may have been inadvertentlyattracted to and/or become stuck on the grasper. To reduce theseundesired effects, parts of the grasper may for example be composed ofnon-magnetic materials (e.g., 300-series stainless steel, plastic, orthe like) and/or be coated with a non-magnetic coating, including butnot limited to, non-magnetic paints, plastic tubing, co-moldedthermoplastic elastomers, a combination thereof, and the like. Thesenon-magnetic materials and/or coatings may reduce or eliminate theattraction between the grasper and other instruments, while maintainingthe ability to control the grasper from outside the body.

For example, in some variations a portion of the grasper may be madefrom plastic (e.g., both jaws, one jaw, a distal portion of one or bothjaws, a proximal portion of one or both jaws, a combination thereof, orthe like) while the remainder of the grasper may comprise aferromagnetic material. In these variations, the plastic portion of thegrasper will not attract surgical tools, but the grasper may still becontrolled using an external control element.

In variations in which a non-magnetic coating may be applied to amagnetic material, the coating may increase the distance between themagnetic material and the surgical instruments, and may prevent closecontact between the magnetic material and the instruments. This maydecrease the attractive force between the coated portion of the grasperand the surgical instruments, but may still allow the grasper to becontrolled by an external control element. In some instances, it may bedesirable to use non-magnetic materials and/or coatings on the portionof the grasper closest to the surgical site (e.g., all or a portion ofthe jaws, such as a proximal portion); however, such materials and/orcoatings may be utilized at any location on the grasper that does notinterfere with the control of the grasper or the coupling of thedelivery devices using a coupling magnet, as described above. Generally,thicker coatings will decrease the force between the grasper and theother instruments, and coatings of any suitable thickness may be used toachieve a desired force profile. In some variations, it may also bepossible to use diamagnetic materials and/or coatings to reduce thelikelihood that other surgical instruments will be attracted to and/orwill stick to the grasper.

The control elements described here may optionally comprise acombination of magnetic and non-magnetic materials. The configuration ofthe magnetic and non-magnetic materials within the control element, forexample, the size, type, quantity, polarity, and location of thematerials, may alter the behavior of the grasper. The control elementsdescribed here may also have a surface that, in use, may be placed on ornear an external surface of a patient's abdominal cavity and that may beparallel to the external surface of the patient's abdominal cavity. Thegrasper and the control element may be configured to yield a desiredgrasper position and/or movement within the body. For example, in somevariations, the control element and the grasper may be configured torotate, move, and/or hold the grasper such that it is in a perpendicularconfiguration relative to the internal wall of the patient's abdominalcavity or the surface of the control element, i.e., with itslongitudinal axis transverse to, and in some instances, substantiallyperpendicular to, the surface of the cavity wall or of the controlelement.

In other variations, the control element and the grasper may beconfigured to rotate, move, and/or hold the grasper in a parallelconfiguration, i.e., in a configuration in which its longitudinal axisextends in the same direction as, or in some instances, is substantiallyparallel to, the surface of the cavity wall or of the control element.In some instances, the control element and the grasper may be configuredto rotate, move, and/or hold the grasper such that its longitudinal axisforms an angle between about 5 and about 85 degrees with the surface ofthe cavity wall or of the control element. In some instances, thecontrol element and the grasper may be configured to move the jaws ofthe grasper while maintaining the positioning of the proximal end of thegrasper.

As mentioned above, the graspers and control elements described herecomprise magnetic elements. Generally, at least one of the elements ineither the grasper or the control element comprises a permanent magnet,an electromagnet, or an electro-permanent magnet. The remaining magneticelements in the graspers and control elements may comprise permanentmagnets, electromagnets, or electro-permanent magnets, and/or maycomprise other materials that are attracted to, and/or repelled by amagnetic field, including, but not limited to ferromagnetic materials,ferrimagnetic materials, diamagnetic materials, a combination thereof,and the like. In some variations both the grasper and the controlelement may comprise one or more permanent magnets. For example, theymay both comprise permanent magnets oriented such that the dissimilarpoles of the magnets attract each other when the grasper and controlelement are in the desired configurations. However, the grasper andcontrol element need not both comprise permanent magnets. For example,in some variations, the grasper may comprise a magnetic elementcomprising a ferromagnetic or ferrimagnetic material (e.g., iron,cobalt, nickel, and the like) that is attracted to a magnetic field butdoes not independently generate a magnetic field, and the controlelement may comprise a magnetic element (e.g., a permanent magnet) thatgenerates a magnetic field that attracts the ferromagnetic orferrimagnetic material.

In some surgical procedures, or at times during a surgical procedure, itmay be desirable for the grasper to move to and/or be held in aperpendicular or angled configuration with respect to the controlelement and/or the wall of a patient's body cavity (e.g., an abdominalcavity).

While the inventive devices, systems, and methods have been described insome detail by way of illustration, such illustration is for purposes ofclarity of understanding only. It will be readily apparent to those ofordinary skill in the art in light of the teachings herein that certainchanges and modifications may be made thereto without departing from thespirit and scope of the appended claims.

1-20. (canceled)
 21. A method for performing a surgical procedure,comprising: introducing a grasper through an opening into an abdominalcavity; grasping a portion of a first lobe of a liver with the grasper;rotating the grasper towards a magnetic control element located outsidethe abdominal cavity; applying a magnetic field to the grasper across abody wall; and folding a first portion of the liver over a secondportion of the liver by moving the magnetic control element over a setof ribs such that the first portion anteriorly overlaps the secondportion.
 22. The method of claim 21, wherein the first portion comprisesthe first lobe and he second portion comprises a second lobe.
 23. Themethod of claim 21, further comprising accessing a space in an abdominalcavity vacated by the grasped portion of the liver.
 24. The method ofclaim 21, further comprising accessing a stomach in an abdominal cavityvacated by the grasped portion of the liver.
 25. The method of claim 21,further comprising visualizing a stomach in the abdominal cavity vacatedby the grasped portion of the liver using an optical sensor.
 26. Themethod of claim 21, further comprising performing a gastric procedurewhile the liver forms the fold.
 27. The method of claim 26, wherein thegastric procedure comprises one or more of a gastric bypass, a sleevegastrectomy, a gastric band procedure, a biliopancreatic diversion withduodenal switch, and a gastric cancer resection.
 28. The method of claim21, wherein grasping the portion of the liver comprises grasping aperipheral edge of the liver.
 29. The method of claim 21, wherein movingthe magnetic control element over the set of ribs pulls grasped tissueaway from the opening.
 30. The method of claim 21, wherein moving themagnetic control element over the set of ribs moves the control elementin a lateral direction with respect to the patient.
 31. The method ofclaim 21, wherein moving the magnetic control element over the set ofribs moves the grasped portion of the liver anteriorly over a right lobeof the liver such that the liver forms the fold.
 32. The method of claim21, wherein grasping the portion of the liver comprises grasping aleft-lateral portion of segment II of the liver.
 33. The method of claim21, wherein moving the magnetic control element is performed in aleft-superior direction over the set of ribs.
 34. The method of claim21, wherein grasping the portion of the first lobe comprises grasping aninferior portion of segment III of the liver.
 35. A method forperforming a surgical procedure, comprising: introducing a grasperthrough an opening into an abdominal cavity; grasping a portion of afirst lobe of a liver with the grasper; rotating the grasper towards amagnetic control element located outside the abdominal cavity; applyinga magnetic field to the grasper across a body wall; and moving themagnetic control element in a lateral direction with respect to apatient over a set of ribs such that the liver folds over itself.
 36. Amethod for performing a surgical procedure, comprising: tilting apatient such that a thoracic cavity of the patient is above an abdominalcavity of the patient; introducing a grasper through an opening into anabdominal cavity; grasping a portion of a first lobe of a liver with thegrasper; rotating the grasper towards a magnetic control element locatedoutside the abdominal cavity; applying a magnetic field to the grasperacross a body wall; and moving the magnetic control element over a setof ribs such that the liver bends into a folded configuration.
 37. Themethod of claim 36, wherein the patient is tilted by up to about 60degrees relative to ground.
 38. The method of claim 36, wherein thepatient is tilted while grasping the portion of the first lobe of theliver.
 39. The method of claim 36, further comprising maintaining alocation of the magnetic control element relative to the body wall whiletilting the patient and visualizing tissue other than the liver.
 40. Themethod of claim 36, further comprising repositioning the magneticcontrol element over the set of ribs while tilting the patient andvisualizing tissue other than the liver.